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Note 11 - Common Stock and Stock-based Compensation Plans (Details Textual) - USD ($)

3 Months Ended

6 Months Ended

12 Months Ended

Feb. 18, 2021

Feb. 16, 2021

Feb. 15, 2021

Feb. 20, 2020

Jun. 30, 2021

Jun. 30, 2020

Jun. 30, 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]

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

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

$ 19,313,000

$ 19,313,000

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

1 year 7 months 6 days

Non-employee Director [Member]

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

25.00%

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%

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

131,581

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

131,581

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%

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

Purchase Rights [Member] | The 2002 Employee Stock Purchase Plan [Member]

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

0

0

[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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- Definition

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- Definition

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- Definition

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- Definition

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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