Spring Loaded or Jrebel can compile your JSP files for you automatically. I have never restarted tomcat for UI changes since using Spring Loaded or Jrebel. Unlike Eclipse which autocompiles, Intellij autosaves which would make auto compile a bit heavy, so you'll need to assign a shortcut to it or use the existing compile project shortcut.
I wrote a post about spring loaded some time ago, I'll link it in here.