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Note 9 - Accrued Expenses (Tables) | 9 Months Ended
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Sep. 30, 2023
Notes Tables |
Schedule of Accrued Liabilities [Table Text Block] |
|  | September 30, |  |  | December 31, |
|  | 2023 |  |  | 2022 |
Salaries, bonuses and related benefits |  | $ | 30,683 |  |  | $ | 27,422 |
Deferred revenue |  |  | 2,940 |  |  |  | 8,847 |
Accrued restructuring costs |  |  | 6,655 |  |  |  | 6,796 |
Sales commissions |  |  | 2,388 |  |  |  | 2,521 |
Subcontracting labor |  |  | 1,680 |  |  |  | 1,875 |
Warranty accrual |  |  | 1,440 |  |  |  | 1,287 |
Other |  |  | 9,470 |  |  |  | 2,125 |
|  | $ | 55,256 |  |  | $ | 50,873 |
Restructuring and Related Costs [Table Text Block] |
|  |  |  |  |  | Nine Months Ended |  |  |  |  |
|  |  |  |  |  | September 30, 2023 |  |  |  |  |
|  | Liability at |  |  |  |  |  |  | Cash Payments |  |  | Liability at |
|  | December 31, |  |  | New |  |  | and Other |  |  | September 30, |
|  | 2022 |  |  | Charges |  |  | Settlements |  |  | 2023 |
Severance costs |  | $ | 3,390 |  |  | $ | 5,115 |  |  | $ | (5,951 | ) |  | $ | 2,554 |
Other restructuring costs |  |  | 3,406 |  |  |  | 1,191 |  |  |  | (496 | ) |  |  | 4,101 |
Total |  | $ | 6,796 |  |  | $ | 6,306 |  |  | $ | (6,447 | ) |  | $ | 6,655 |

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