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Note 15 - Commitments and Contingencies (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
IIA [Member]
Royalty Payment Percentage, as Percentage of Grant Received	100.00%
Accrued Royalties, Current	$ 25,789
IIA [Member] | Cost of Revenues [Member]
Royalty Expense	$ 715	$ 842	$ 1,016
Minimum [Member]
Percentage of Royalty Expense	3.00%
Minimum [Member] | IIA [Member]
Percentage of Royalty Expense	3.00%
Maximum [Member]
Percentage of Royalty Expense	3.50%
Maximum [Member] | IIA [Member]
Percentage of Royalty Expense	3.50%

X

- Definition

Represents the royalty percentage that the company or a subsidiary thereof is obligated to pay out of the sales of certain products, the development of which grants were received in previous years.

+ References

No definition available.

+ Details

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X

- Definition

Represents the royalty payment percentage, expressed as a percentage of grant received.

+ References

No definition available.

+ Details

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- Definition

Carrying value as of the balance sheet date of obligations incurred through that date and payable for royalties. Used to reflect the current portion of the liabilities (due within one year or within the normal operating cycle if longer).

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section 45
-Paragraph 6
-URI http://asc.fasb.org/extlink&oid=118951113&loc=d3e6911-107765

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section 45
-Paragraph 8
-URI http://asc.fasb.org/extlink&oid=118951113&loc=d3e6935-107765

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.20)
-URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682

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X

- Definition

Amount of expense related to royalty payments under a contractual arrangement such as payment for mineral and drilling rights and use of technology or intellectual property.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section S99
-Paragraph 2
-Subparagraph (SX 210.5-03.3)
-URI http://asc.fasb.org/extlink&oid=116634182&loc=SL114868664-224227

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