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Note 13 - Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Allocated share-based compensation expense | $ 19,095 | $ 14,673 | $ 10,781
Cost of Sales [Member] |  |  |
Allocated share-based compensation expense | 2,595 | 2,451 | 2,056
Selling and Marketing Expense [Member] |  |  |
Allocated share-based compensation expense | 3,736 | 3,121 | 2,632
Research and Development Expense [Member] |  |  |
Allocated share-based compensation expense | 2,833 | 2,440 | 1,851
General and Administrative Expense [Member] |  |  |
Allocated share-based compensation expense | 9,931 | 6,661 | 4,242
Stock Options, Restricted Stock, and Other [Member] |  |  |
Allocated share-based compensation expense | 17,553 | 13,327 | 9,591
ESPP [Member] |  |  |
Allocated share-based compensation expense | $ 1,542 | $ 1,346 | $ 1,190

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