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Note 15 - Income Taxes - Reconciliation of Federal Statutory Income Tax Rate to Effective Tax Rate (Details)		12 Months Ended
	Dec. 22, 2017	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Federal tax statutory rate	35.00%	21.00%	21.00%	21.00%
State tax (net of federal benefit)		2.10%	2.10%	2.00%
Share based compensation		(1.30%)	(0.50%)	(2.80%)
Valuation allowance against deferred tax assets		2.00%	1.40%	0.70%
Research and development credit		(3.70%)	(2.80%)	(2.50%)
Foreign rate differential		(0.80%)	(0.30%)	(0.10%)
Tax reserves		1.40%	1.10%	(0.10%)
Provision to return difference		(1.40%)	0.00%	0.00%
Miscellaneous		(0.10%)	(0.40%)	(0.50%)
Transition tax		0.00%	0.00%	(0.80%)
Revaluation of deferred tax liability		0.00%	0.00%	(0.50%)
Total		19.20%	21.60%	16.40%

X

- Definition

Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to provision to return difference.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to the revaluation of deferred tax liability.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to a one time transition tax.

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to statutory income tax expense (benefit) outside of the country of domicile.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to income tax contingencies. Includes, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to research tax credit.

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