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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, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Allocated share-based compensation expense | $ 17,545 | $ 19,095 | $ 14,673
Cost of Sales [Member] |  |  |
Allocated share-based compensation expense | 2,172 | 2,595 | 2,451
Selling and Marketing Expense [Member] |  |  |
Allocated share-based compensation expense | 3,295 | 3,736 | 3,121
Research and Development Expense [Member] |  |  |
Allocated share-based compensation expense | 2,189 | 2,833 | 2,440
General and Administrative Expense [Member] |  |  |
Allocated share-based compensation expense | 9,889 | 9,931 | 6,661
Stock Options, Restricted Stock, and Other [Member] |  |  |
Allocated share-based compensation expense | 16,103 | 17,553 | 13,327
ESPP [Member] |  |  |
Allocated share-based compensation expense | $ 1,442 | $ 1,542 | $ 1,346

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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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