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Note 6 - Employee Benefit Plans (Tables) | 12 Months Ended
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Dec. 31, 2022
Notes Tables |
Schedule of Net Benefit Costs [Table Text Block] |
(in thousands) |  | 2022 |  |  | 2021 |  |  | 2020 |
Service cost |  | $ | 954 |  |  | $ | 1,223 |  |  | $ | 1,310 |
Interest cost |  |  | 56 |  |  |  | 61 |  |  |  | 67 |
Expected return on assets |  |  | (128 | ) |  |  | (128 | ) |  |  | (200 | )
Settlements |  |  | (487 | ) |  |  | 72 |  |  |  | 292 |
Net periodic costs |  | $ | 395 |  |  | $ | 1,228 |  |  | $ | 1,469 |
Changes in Projected Benefit Obligations, Fair Value of Plan Assets, and Funded Status of Plan [Table Text Block] |
(in thousands) |  | 2022 |  |  | 2021 |
Change in projected benefit obligation: |  |  |  |  |  |  |  |
Benefit obligation at beginning of year |  | $ | (28,765 | ) |  | $ | (31,039 | )
Service cost |  |  | (954 | ) |  |  | (1,223 | )
Interest cost |  |  | (56 | ) |  |  | (61 | )
Actuarial gain |  |  | 6,043 |  |  |  | 1,179 |
Participant contributions |  |  | (1,459 | ) |  |  | (1,780 | )
Benefits paid |  |  | 378 |  |  |  | 436 |
Plan change |  |  | 397 |  |  |  | 1,076 |
Settlements |  |  | 2,426 |  |  |  | 1,653 |
Foreign currency exchange adjustment |  |  | 362 |  |  |  | 994 |
Benefit obligation at end of year |  |  | (21,628 | ) |  |  | (28,765 | )
Change in plan assets: |  |  |  |  |  |  |  |
Fair value of plan assets at beginning of year |  |  | 18,919 |  |  |  | 18,756 |
Return on assets, net of actuarial loss |  |  | 119 |  |  |  | 207 |
Employer contributions |  |  | 831 |  |  |  | 878 |
Participant contributions |  |  | 1,459 |  |  |  | 1,780 |
Benefits paid |  |  | (378 | ) |  |  | (436 | )
Settlements |  |  | (2,426 | ) |  |  | (1,653 | )
Foreign currency exchange adjustment |  |  | (113 | ) |  |  | (613 | )
Fair value of plan assets at end of year |  |  | 18,411 |  |  |  | 18,919 |
Net liability at end of year |  | $ | (3,217 | ) |  | $ | (9,846 | )
Defined Benefit Plan, Assumptions [Table Text Block] |
|  | 2022 |  |  | 2021 |
Discount rate |  |  | 2.3 | % |  |  | 0.2 | %
Compensation increase |  |  | 3.0 | % |  |  | 1.5 | %
|  | 2022 |  |  | 2021 |  |  | 2020 |
Discount rate |  |  | 2.3 | % |  |  | 0.2 | % |  |  | 0.2 | %
Rate of return on assets |  |  | 1.8 | % |  |  | 0.7 | % |  |  | 1.0 | %
Compensation increase |  |  | 3.0 | % |  |  | 1.1 | % |  |  | 1.1 | %
Schedule of Net Funded Status [Table Text Block] |
(in thousands) |  | 2022 |  |  | 2021 |
Accumulated benefit obligation at beginning of year |  | $ | (2,097 | ) |  | $ | (2,398 | )
Interest cost |  |  | (51 | ) |  |  | (49 | )
Actuarial gain |  |  | 382 |  |  |  | 241 |
Benefits paid |  |  | 109 |  |  |  | 109 |
Accumulated benefit obligation at end of year |  |  | (1,657 | ) |  |  | (2,097 | )
Plan assets at end of year |  |  | - |  |  |  | - |
Funded status |  | $ | (1,657 | ) |  | $ | (2,097 | )
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  | 2022 |  |  | 2021 |  |  | 2020 |
(in thousands, except per share data) |  | Shares |  |  | Wt. Avg. Ex. Price |  |  | Shares |  |  | Wt. Avg. Ex. Price |  |  | Shares |  |  | Wt. Avg. Ex. Price |
Outstanding and exercisable, beginning of year |  |  | 12 |  |  | $ | 9.44 |  |  |  | 262 |  |  | $ | 10.01 |  |  |  | 363 |  |  | $ | 10.27 |
Exercised |  |  | (12 | ) |  | $ | 9.44 |  |  |  | (250 | ) |  | $ | 10.03 |  |  |  | (101 | ) |  | $ | 10.95 |
Outstanding and exercisable, end of year |  |  | - |  |  | $ | - |  |  |  | 12 |  |  | $ | 9.44 |  |  |  | 262 |  |  | $ | 10.01 |
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] |
| 2022 |  |  | 2021 |  |  | 2020 |
(in thousands, except per share data) | Units |  |  | Wt. Avg. Fair Value |  |  | Units |  |  | Wt. Avg. Fair Value |  |  | Units |  |  | Wt. Avg. Fair Value |
Outstanding, beginning of year |  | 1,058 |  |  | $ | 21.16 |  |  |  | 1,414 |  |  | $ | 15.16 |  |  |  | 1,328 |  |  | $ | 17.05 |
Granted |  | 431 |  |  | $ | 27.74 |  |  |  | 270 |  |  | $ | 41.66 |  |  |  | 779 |  |  | $ | 14.02 |
Released |  | (474 | ) |  | $ | 19.94 |  |  |  | (579 | ) |  | $ | 16.23 |  |  |  | (621 | ) |  | $ | 17.48 |
Cancelled |  | (46 | ) |  | $ | 24.33 |  |  |  | (47 | ) |  | $ | 18.96 |  |  |  | (72 | ) |  | $ | 17.59 |
Outstanding, end of year |  | 969 |  |  | $ | 24.55 |  |  |  | 1,058 |  |  | $ | 21.16 |  |  |  | 1,414 |  |  | $ | 15.16 |
Schedule of Nonvested Performance-Based Units Activity [Table Text Block] |
| 2022 |  |  | 2021 |  |  | 2020 |
(in thousands, except per share data) | Units |  |  | Wt. Avg. Fair Value |  |  | Units |  |  | Wt. Avg. Fair Value |  |  | Units |  |  | Wt. Avg. Fair Value |
Outstanding, beginning of year |  | 384 |  |  | $ | 22.22 |  |  |  | 425 |  |  | $ | 15.51 |  |  |  | 364 |  |  | $ | 18.72 |
Granted |  | 151 |  |  | $ | 33.22 |  |  |  | 93 |  |  | $ | 51.43 |  |  |  | 200 |  |  | $ | 13.18 |
Released |  | (55 | ) |  | $ | 14.11 |  |  |  | (125 | ) |  | $ | 21.77 |  |  |  | (39 | ) |  | $ | 21.40 |
Cancelled |  | (77 | ) |  | $ | 15.94 |  |  |  | (9 | ) |  | $ | 14.04 |  |  |  | (100 | ) |  | $ | 20.25 |
Outstanding, end of year |  | 403 |  |  | $ | 28.64 |  |  |  | 384 |  |  | $ | 22.22 |  |  |  | 425 |  |  | $ | 15.51 |
Schedule of Share-Based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block] |
Employee Stock Purchase Plan |  | 2022 |  |  | 2021 |  |  | 2020 |
Dividend yield |  |  | 0.0 | % |  |  | 0.0 | % |  |  | 0.5 | %
Expected volatility |  |  | 45.6 | % |  |  | 58.3 | % |  |  | 67.1 | %
Risk-free interest rate |  |  | 1.2 | % |  |  | 0.1 | % |  |  | 1.1 | %
Expected term (years) |  |  | 0.5 |  |  |  | 0.5 |  |  |  | 0.5 |
Weighted-average grant date fair value per share |  | $ | 8.79 |  |  | $ | 9.42 |  |  | $ | 6.01 |
Restricted Stock Units |  | 2022 |  |  | 2021 |  |  | 2020 |
Dividend yield |  |  | 0.0 | % |  |  | 0.0 | % |  |  | 0.0 | %
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
(in thousands) |  | 2022 |  |  | 2021 |  |  | 2020 |
Cost of sales |  | $ | 646 |  |  | $ | 828 |  |  | $ | 893 |
Research and development |  |  | 3,100 |  |  |  | 3,017 |  |  |  | 3,245 |
Selling, general and administrative |  |  | 11,172 |  |  |  | 9,947 |  |  |  | 10,096 |
Share-based compensation of continuing operations |  |  | 14,918 |  |  |  | 13,792 |  |  |  | 14,234 |
Income tax benefit |  |  | (4,004 | ) |  |  | (722 | ) |  |  | (963 | )
Total share-based compensation, net of tax |  | $ | 10,914 |  |  | $ | 13,070 |  |  | $ | 13,271 |

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- Definition Tabular disclosure of the components of net benefit costs for pension plans and/or other employee benefit plans including service cost, interest cost, expected return on plan assets, gain (loss), prior service cost or credit, transition asset or obligation, and gain (loss) recognized due to settlements or curtailments. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (h) -URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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