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Note 9 - Fair Value Measurement (Details Textual) - USD ($) $ in Millions | 9 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | ---
Sep. 30, 2021 | Jun. 30, 2021 | Dec. 31, 2020 | Sep. 30, 2020 | Nov. 30, 2019 | May 31, 2018
Derivative Liability, Notional Amount |  |  |  |  |  | $ 150.0
Interest Rate Swaps, Balance of Swaps Remaining in Other Comprehensive Income, Amount to Be Amortized Quarterly to Interest Expense |  | $ 5.4 |  |  |  |
The 2.75% Convertible Notes [Member] |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage | 2.75% |  | 2.75% | 2.75% | 2.75% |
Debt Instrument, Convertible, Carrying Amount of Equity Component | $ 24.5 |  | $ 29.7 | $ 31.4 | $ 27.9 |
US Treasury and Government [Member] | Minimum [Member] |  |  |  |  |  |
Debt Securities, Held-to-maturity, Term (Year) | 1 year |  |  |  |  |
US Treasury and Government [Member] | Maximum [Member] |  |  |  |  |  |
Debt Securities, Held-to-maturity, Term (Year) | 5 years |  |  |  |  |
London Interbank Offered Rate (LIBOR) [Member] |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate | 2.76% |  |  |  |  |

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