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Note 12 - Accrued Expenses (Tables) | 12 Months Ended
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Dec. 31, 2023
Notes Tables |
Schedule of Accrued Liabilities [Table Text Block] |
|  | December 31, |
|  | 2023 |  |  | 2022 |
Salaries, bonuses and related benefits |  | $ | 33,566 |  |  | $ | 27,422 |
Deferred revenue |  |  | 3,046 |  |  |  | 8,847 |
Accrued restructuring costs |  |  | 5,498 |  |  |  | 6,796 |
Sales commissions |  |  | 2,347 |  |  |  | 2,521 |
Subcontracting labor |  |  | 1,622 |  |  |  | 1,875 |
Warranty accrual |  |  | 1,542 |  |  |  | 1,287 |
Other |  |  | 7,036 |  |  |  | 2,125 |
|  | $ | 54,657 |  |  | $ | 50,873 |
Restructuring and Related Costs [Table Text Block] |
|  |  |  |  |  | Year Ended |  |  |  |  |
|  |  |  |  |  | December 31, 2023 |  |  |  |  |
|  | Liability at |  |  |  |  |  |  | Cash Payments |  |  | Liability at |
|  | December 31, |  |  | New |  |  | and Other |  |  | December 31, |
|  | 2022 |  |  | Charges |  |  | Settlements |  |  | 2023 |
Severance costs |  | $ | 3,390 |  |  | $ | 7,590 |  |  | $ | (9,429 | ) |  | $ | 1,551 |
Disposal of equipment in connection with restructuring |  |  | - |  |  |  | 1,320 |  |  |  | (1,320 | ) |  |  | - |
Other restructuring costs |  |  | 3,406 |  |  |  | 1,204 |  |  |  | (663 | ) |  |  | 3,947 |
Total |  | $ | 6,796 |  |  | $ | 10,114 |  |  | $ | (11,412 | ) |  | $ | 5,498 |

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