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Note 1 - Organization and Significant Accounting Policies - Equity-based Compensation Expenses Related to Stock Options, SARs, RSUs and Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Total equity-based compensation expense | $ 14,505 | $ 13,055 | $ 13,636
Cost of Sales [Member] |  |  |
Total equity-based compensation expense | 1,461 | 818 | 639
Research and Development Expense [Member] |  |  |
Total equity-based compensation expense | 8,540 | 7,287 | 6,874
Sales and Marketing [Member] |  |  |
Total equity-based compensation expense | 1,550 | 1,626 | 2,038
General and Administrative Expense [Member] |  |  |
Total equity-based compensation expense | $ 2,954 | $ 3,324 | $ 4,085

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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