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Note 10 - Stock-based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Share-Based Payment Arrangement, Expense | $ 4.0 | $ 4.9 | $ 8.4 | $ 10.6
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  | $ 27.84 |
ESPP [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Offering Date |  |  | 15.00% |
Employee Stock Purchase Plan, Offering Period (Month) |  |  | 6 months |
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent |  |  | 85.00% |
Share-Based Payment Arrangement, Option [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  | 10 years |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | 4.0 |  | $ 4.0 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  | 2 years 8 months 12 days |
Share-Based Payment Arrangement, Option [Member] | Minimum [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 4 years |
Share-Based Payment Arrangement, Option [Member] | Maximum [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 5 years |
Restricted Stock [Member] |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | 18.8 |  | $ 18.8 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  | 2 years 3 months 18 days |
Restricted Stock [Member] | Minimum [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 3 years |
Restricted Stock [Member] | Maximum [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 5 years |
Performance Shares [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 3 years |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ 3.0 |  | $ 3.0 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  | 2 years 6 months |
Percentage of Target Number Capable of Being Earned and Vesting, Lower Limit | 0.00% |  | 0.00% |
Percentage of Target Number Capable of Being Earned and Vesting, Upper Limit | 200.00% |  | 200.00% |
Long-Term Incentive Plan 2012 [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  | 10 years |

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- Definition The lower limit percent of target number capable of being earned and vesting at the end of a three-year performance period depending on the company's performance in the final year of the performance period and the award recipient's continued employment. + References No definition available. + Details
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- Definition The upper limit percent of target number capable of being earned and vesting at the end of a three-year performance period depending on the company's performance in the final year of the performance period and the award recipient's continued employment. + References No definition available. + Details
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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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