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Note 10 - Common Stock and Stock-based Compensation Plans - Equity-based Compensation Expense Included in Interim Condensed Consolidated Statements of Income (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Total equity-based compensation expense | $ 3,198 | $ 3,107
Cost of Revenues [Member] |  |
Total equity-based compensation expense | 143 | 158
Research and Development, Net [Member] |  |
Total equity-based compensation expense | 1,685 | 1,623
Sales and Marketing [Member] |  |
Total equity-based compensation expense | 418 | 451
General and Administrative [Member] |  |
Total equity-based compensation expense | $ 952 | $ 875

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