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Note 10 - Common Stock and Stock-based Compensation Plans (Details Textual) - USD ($)

3 Months Ended

12 Months Ended

Feb. 18, 2021

Feb. 16, 2021

Feb. 20, 2020

Mar. 31, 2021

Dec. 31, 2018

Dec. 31, 2017

Dec. 31, 2020

Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares)

^[2]

135,774

^[1]

289,069

Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable Number (in shares)

^[2],[3]

135,774

Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Grants in Period (in shares)

^[2]

0

Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total

$ 13,901,000

Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)

1 year 6 months

Non-employee Director [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Options, Annual Vesting, Percentage

25.00%

The2011 Stock Incentive Plan [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights Vesting Percentage, Year One

25.00%

Share-based Compensation Arrangement by Share-based Payment Award, Remaining Vesting Period (Month)

36 months

Maximum [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares)

131,581

Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable Number (in shares)

131,581

Maximum [Member] | The2011 Stock Incentive Plan [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)

4 years

Stock Appreciation Rights (SARs) [Member] | Maximum [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Percentage of Awards Granted

400.00%

Percentage of Stock Appreciation Rights Units Subject to Grant

75.00%

Restricted Stock Units (RSUs) [Member] | Vesting on February 18, 2022 [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

33.40%

Restricted Stock Units (RSUs) [Member] | Vesting on February 18, 2023 [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

33.30%

Restricted Stock Units (RSUs) [Member] | Vesting on February 18, 2024 [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

33.30%

Restricted Stock Units (RSUs) [Member] | Non-employee Director [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)

2 years

1 year

Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares)

5,902

Restricted Stock Units (RSUs) [Member] | Employees [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)

3 years

Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Non-employee Director [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)

2 years

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

1,784

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Fair Value

$ 124,670

Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Non-employee Director [Member] | Vesting After the First Anniversary Grant Date [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

50.00%

Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Chief Executive Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

5,962

Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Executive Vice President, Worldwide Sales [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

4,024

Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Chief Financial Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

3,577

Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Chief Operating Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

3,577

Performance Share Units [Member] | The2011 Stock Incentive Plan [Member] | Chief Executive Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

8,943

Performance Share Units [Member] | The2011 Stock Incentive Plan [Member] | Executive Vice President, Worldwide Sales [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

2,683

Performance Share Units [Member] | The2011 Stock Incentive Plan [Member] | Chief Financial Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

2,385

Performance Share Units [Member] | The2011 Stock Incentive Plan [Member] | Chief Operating Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)

2,385

Short-Term Executive PSUs [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded, Percentage

20.00%

Short-Term Executive PSUs [Member] | Goals One [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

50.00%

Short-Term Executive PSUs [Member] | Goals Two [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

50.00%

Short-Term Executive PSUs [Member] | Vesting on February 20, 2021 [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

33.40%

Short-Term Executive PSUs [Member] | Vesting on February 22, 2022 [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

33.30%

Short-Term Executive PSUs [Member] | Vesting on February 20, 2023 [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage

33.30%

Short-Term Executive PSUs [Member] | Chief Executive Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)

1,788

Short-Term Executive PSUs [Member] | Executive Vice President, Worldwide Sales [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)

536

Short-Term Executive PSUs [Member] | Chief Financial Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)

477

Short-Term Executive PSUs [Member] | Chief Operating Officer [Member]

Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)

477

[1]	Due to the ceiling imposed on the SAR grants, the outstanding amount equals a maximum of 131,581 shares of the Company’s common stock issuable upon exercise.
[2]	The SAR units are convertible for a maximum number of shares of the Company's common stock equal to 75% of the SAR units subject to the grant.
[3]	Due to the ceiling imposed on the SAR grants, the exercisable amount equals a maximum of 131,581 shares of the Company’s common stock issuable upon exercise.

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- Definition

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- Definition

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- Definition

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+ References

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-Publisher FASB
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-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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