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Note 9 - Accrued Expenses (Tables) | 3 Months Ended
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Mar. 31, 2024
Notes Tables |
Schedule of Accrued Liabilities [Table Text Block] |
|  | March 31, |  |  | December 31, |
|  | 2024 |  |  | 2023 |
Salaries, bonuses and related benefits |  | $ | 18,403 |  |  | $ | 33,566 |
Deferred revenue |  |  | 2,606 |  |  |  | 3,046 |
Accrued restructuring costs |  |  | 4,287 |  |  |  | 5,498 |
Sales commissions |  |  | 1,929 |  |  |  | 2,347 |
Warranty accrual |  |  | 1,594 |  |  |  | 1,542 |
Other |  |  | 7,953 |  |  |  | 8,658 |
|  | $ | 36,772 |  |  | $ | 54,657 |
Restructuring and Related Costs [Table Text Block] |
|  |  |  |  |  | Three Months Ended |  |  |  |  |
|  |  |  |  |  | March 31, 2024 |  |  |  |  |
|  | Liability at |  |  |  |  |  |  | Cash Payments |  |  | Liability at |
|  | December 31, |  |  | New |  |  | and Other |  |  | March 31, |
|  | 2023 |  |  | Charges |  |  | Settlements |  |  | 2024 |
Severance costs |  | $ | 1,551 |  |  | $ | 65 |  |  | $ | (1,276 | ) |  | $ | 340 |
Other restructuring costs |  |  | 3,947 |  |  |  | - |  |  |  | - |  |  |  | 3,947 |
Total |  | $ | 5,498 |  |  | $ | 65 |  |  | $ | (1,276 | ) |  | $ | 4,287 |

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