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Note 15 - Income Taxes - Reconciliation of Statutory and Effective Tax Rates (Details)		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
U.S. statutory rate		21.00%	21.00%	21.00%
State taxes		4.00%	4.30%	4.30%
State tax rate differential		(0.30%)	0.00%	0.00%
Research and development credits		(1.10%)	(1.00%)	(1.10%)
State credits		(1.50%)	(1.10%)	(1.50%)
Share-based compensation	[1]	(2.70%)	(3.80%)	(1.00%)
Nondeductible U.S. compensation		1.60%	1.50%	0.00%
Foreign tax deduction		(0.40%)	(1.50%)	0.00%
Foreign deferred tax rate change		0.00%	1.20%	0.00%
Other		(1.00%)	(1.10%)	0.50%
Effective tax rate		19.60%	19.50%	22.20%
[1] With the adoption of ASU 2016-09 in 2017, excess tax benefits from equity awards are reflected within the provision for income taxes rather than within the consolidated balance sheet.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to foreign deferred tax rate change.

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