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Note 9 - Stockholders' Equity and Stock-based Compensation - Share-based Compensation, Restricted Stock and Restricted Stock Units (Details)
shares in Thousands
 3 Months Ended
Mar. 31, 2022
$ / shares
shares
Cancelled, weighted average grant date fair value (in dollars per share) | $ / shares $ 108.92
Expected to vest, number of shares (in shares) | shares 758
Expected to vest, weighted average grant date fair value (in dollars per share) | $ / shares $ 105.23
Restricted Stock Units (RSUs) [Member]  
Balance, number of shares (in shares) | shares 917 [1]
Balance, weighted average grant date fair value (in dollars per share) | $ / shares $ 104.78
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | shares 47
Granted, weighted average grant date fair value (in dollars per share) | $ / shares $ 129.01
Vested, number of shares (in shares) | shares (70)
Vested, weighted average grant date fair value (in dollars per share) | $ / shares $ 97.24
Cancelled, number of shares (in shares) | shares (43)
Balance, number of shares (in shares) | shares 851 [1]
Balance, weighted average grant date fair value (in dollars per share) | $ / shares $ 106.12
[1] Includes 34 thousand PSUs granted to certain executive officers in 2021.