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Note 10 - Stockholders' Equity and Stock-based Compensation (Details Textual) $ / shares in Units, $ in Thousands |  |  |  |  |  |  |  | 1 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Oct. 28, 2021 shares | Jun. 09, 2021 shares | Apr. 27, 2021 shares | Mar. 19, 2021 shares | Dec. 10, 2020 shares | Nov. 02, 2019 shares | Dec. 21, 2018 shares | Feb. 28, 2021 shares | Feb. 29, 2020 shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 31, 2018 shares | Oct. 03, 2012 $ / shares shares
Preferred Stock, Shares Authorized (in shares) |  |  |  |  |  |  |  |  |  |  | 20,000,000 | 20,000,000 |  |  | 20,000,000.0
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 0.001 | $ 0.001 |  |  | $ 0.001
Preferred Stock, Shares Issued, Total (in shares) |  |  |  |  |  |  |  |  |  |  | 0 | 0 |  |  |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) |  |  |  |  |  |  |  |  |  |  | 0 | 0 |  |  |
Share-based Payment Arrangement, Expense, Tax Benefit | $ |  |  |  |  |  |  |  |  |  |  | $ 6,200 | $ 5,500 | $ 5,500 |  |
Share-based Payment Arrangement, Accelerated Cost | $ |  |  |  |  |  |  |  |  |  |  | 27,300 |  |  |  |
Share-based Payment Arrangement, Expense | $ |  |  |  |  |  |  |  |  |  |  | $ 67,579 | $ 40,035 | $ 34,892 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 41.23 | $ 35.49 | $ 34.02 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares) | [1] |  |  |  |  |  |  |  |  |  | 725,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value | $ |  |  |  |  |  |  |  |  |  |  | $ 42,500 | $ 77,500 | $ 52,100 |  |
Stock Repurchased and Retired During Period, Shares (in shares) |  |  |  |  |  |  |  |  |  |  | 1,100,000 | 1,300,000 | 1,000,000.0 |  |
Stock Repurchased and Retired During Period, Value | $ |  |  |  |  |  |  |  |  |  |  | $ 130,000 | $ 126,700 | $ 86,400 |  |
Stock Repurchase Program, Remaining Authorized Repurchase Amount | $ |  |  |  |  |  |  |  |  |  |  | 271,800 |  |  |  |
Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ |  |  |  |  |  |  |  |  |  |  | $ 16,700 |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  |  |  |  |  |  |  | 2 years 9 months 18 days |  |  |  |
Share-based Payment Arrangement, Option [Member] | Performance Shares [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  | 224,000 | 124,000 |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares) |  |  |  |  | 348,000 |  |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Expense | $ |  |  |  |  |  |  |  |  |  |  | $ 13,300 | 200 | 300 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares) |  |  |  |  |  |  |  |  |  |  | 348 |  |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ |  |  |  |  |  |  |  |  |  |  | $ 77,000 |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  |  |  |  |  |  |  | 2 years 9 months 18 days |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | [2] |  |  |  |  |  |  |  |  |  | 530,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | [3] |  |  |  |  |  |  |  |  |  | 583,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value | $ |  |  |  |  |  |  |  |  |  |  | $ 59,500 | 46,500 | 37,900 |  |
Restricted Stock Units (RSUs) [Member] | Time based Shared Based Compensation [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  | 69,000 | 49,000 |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  |  |  |  |  |  |  | 56,000 |  |  |  |  |  |  |
Share based Compensation Arrangement by Share based Payment Award, Vesting Period, Number Of Quarterly Periods |  |  |  |  |  | 16 | 16 | 16 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares) |  |  |  |  | 127,000 |  |  |  |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Performance Shares [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  |  |  | 3 years |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  |  |  | 33 |  |  |  |  |  | 33,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  |  |  |  |  |  |  |  | 22,000 | 15,000 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  |  |  | 33.33% |  |  |  |  |  |  |
Share-Based Compensation Arrangement By Share-based Payment Award, Equity Instruments Other Than Options, Target Number Of Shares (in shares) |  |  |  |  |  |  |  | 11,000 |  |  |  |  |  |  |
Share-based Compensation Termination Period Trigger (Month) |  |  |  |  |  | 12 months |  |  |  |  |  |  |  |  |
Share-Based Compensation, Percentage Of Shares That Will Vest Upon Trigger |  |  |  |  |  | 100.00% |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement By Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period As A Percentage Of Target |  |  |  |  |  |  |  |  | 200.00% | 135.00% |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares) |  |  |  |  | 44,000 |  |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Expense | $ |  |  |  |  |  |  |  |  |  |  | 5,300 | $ 2,800 | $ 900 |  |
ESPP Shares [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ |  |  |  |  |  |  |  |  |  |  | $ 200 |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  |  |  |  |  |  |  | 1 month 6 days |  |  |  |
Performance-based Restricted Stock Units [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  |  |  |  |  |  |  |  |  |  | 11,000 |  |  |  |
Performance-based Restricted Stock Units [Member] | President and Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  | 3 years |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Termination Period Trigger (Month) |  |  |  | 12 months |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation, Percentage Of Shares That Will Vest Upon Trigger |  |  |  | 100.00% | 100.00% |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  | 10,000 |  |  |  |  |  |  |  |  |  |  |
Performance-based Restricted Stock Units [Member] | Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 3 years |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 73,000 |  |  |  |  |  |  |  |  | 34,000 |  |  |  |
Maximum [Member] | Share-based Payment Arrangement, Option [Member] | Performance Shares [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  |  |  |  |  | 200.00% | 200.00% |  |  |  |  |  |  |  |
Maximum [Member] | Restricted Stock Units (RSUs) [Member] | President and Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  |  |  |  |  |  |  | 200.00% |  |  |  |  |  |  |
Maximum [Member] | Restricted Stock Units (RSUs) [Member] | Performance Shares, Tranche Three [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  |  |  |  |  |  |  | 200.00% |  |  |  |  |  |  |
Maximum [Member] | Performance-based Restricted Stock Units [Member] | President and Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  |  |  | 200.00% |  |  |  |  |  |  |  |  |  |  |
Maximum [Member] | Performance-based Restricted Stock Units [Member] | Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  | 200.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Minimum [Member] | Share-based Payment Arrangement, Option [Member] | Performance Shares [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  |  |  |  |  | 0.00% | 0.00% |  |  |  |  |  |  |  |
Minimum [Member] | Restricted Stock Units (RSUs) [Member] | President and Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  |  |  |  |  |  |  | 0.00% |  |  |  |  |  |  |
Minimum [Member] | Restricted Stock Units (RSUs) [Member] | Performance Shares, Tranche Three [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  |  |  |  |  |  |  | 0.00% |  |  |  |  |  |  |
Minimum [Member] | Performance-based Restricted Stock Units [Member] | President and Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  |  |  | 0.00% |  |  |  |  |  |  |  |  |  |  |
Minimum [Member] | Performance-based Restricted Stock Units [Member] | Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage |  | 0.00% |  |  |  |  |  |  |  |  |  |  |  |  |
The 2000 Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Strike Price as a Percentage of Market Value |  |  |  |  |  |  |  |  |  |  | 85.00% |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  |  |  |  |  |  |  |  | 0 |  |  |  |
The 2000 Equity Incentive Plan [Member] | Maximum [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  |  |  |  |  |  | 4 years |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  |  |  |  |  |  |  |  | 10 years |  |  |  |
The 2012 Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  |  |  |  |  |  | 4 years |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  |  |  |  |  |  |  |  | 8,091 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized, Annual Increase, Shares (in shares) |  |  |  |  |  |  |  |  |  |  |  | 3,050 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized, Annual Increase, Percent of Shares Outstanding |  |  |  |  |  |  |  |  |  |  | 5.00% |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) |  |  |  |  |  |  |  |  |  |  | 1,963 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  |  |  |  |  |  | 17,662 |  |  |  |
The 2021 Employee Stock Purchase Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  | 600,000 |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Offering Period (Month) |  |  | 6 months |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent |  |  | 85.00% |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 26.88 |  |  |  |
The 2021 Employee Stock Purchase Plan [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Stock Purchase Plan, Percentage of Eligible Compensation Contributable |  |  | 15.00% |  |  |  |  |  |  |  |  |  |  |  |
The 2021 Employee Stock Purchase Plan [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Stock Purchase Plan, Percentage of Eligible Compensation Contributable |  |  | 1.00% |  |  |  |  |  |  |  |  |  |  |  |
[1] | Included 348 thousand shares of PSOs.
[2] | Included 11 thousand additional shares of PSUs vested as a result of the Company achieving the corresponding level of performance goals for 2020.
[3] | Included 34 thousand shares of PSUs granted to certain executive officers in 2021 and 11 thousand additional shares of PSUs vested as a result of the Company achieving the corresponding level of performance goals for 2020.

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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