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Note 10 - Stockholders' Equity and Stock-based Compensation - Share-based Compensation, Restricted Stock and Restricted Stock Units (Details)
shares in Thousands
 12 Months Ended
Dec. 31, 2021
$ / shares
shares
Cancelled, weighted average grant date fair value (in dollars per share) | $ / shares $ 90.42
Expected to vest, number of shares (in shares) | shares 815
Expected to vest, weighted average grant date fair value (in dollars per share) | $ / shares $ 104.22
Restricted Stock Units (RSUs) [Member]  
Balance, number of shares (in shares) | shares 1,047
Balance, weighted average grant date fair value (in dollars per share) | $ / shares $ 86.78
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | shares 583 [1]
Granted, weighted average grant date fair value (in dollars per share) | $ / shares $ 114.59
Vested, number of shares (in shares) | shares (530) [2]
Vested, weighted average grant date fair value (in dollars per share) | $ / shares $ 84.97
Cancelled, number of shares (in shares) | shares (183)
Balance, number of shares (in shares) | shares 917 [3]
Balance, weighted average grant date fair value (in dollars per share) | $ / shares $ 104.78
[1] 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.
[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.