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Note 2 - Basis of Presentation and Summary of Significant Accounting Policies (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Unbilled Receivables, Expected Billing Period (Year)	1 year
Operating and Financing Lease Extension Lease Term (Year)	20 years
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)	10 years
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	4 years
Research and Development Expense, Total	$ 48,900	$ 60,000	$ 45,100
Advertising Expense	8,500	10,700	9,000
Goodwill, Impairment Loss	$ 0	$ 0	$ 0
Restricted Stock [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	4 years
Minimum [Member]
Operating and Financing Lease Remaining Lease Term (Year)	1 year
Maximum [Member]
Operating and Financing Lease Remaining Lease Term (Year)	14 years

X

- Definition

Amount charged to advertising expense for the period, which are expenses incurred with the objective of increasing revenue for a specified brand, product or product line.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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