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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.