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Note 9 - Stockholders' Equity (Details Textual) $ / shares in Units, $ in Thousands |  |  |  |  |  |  |  |  | 1 Months Ended | 12 Months Ended | 36 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Dec. 07, 2022 shares | Nov. 09, 2022 shares | Jun. 02, 2022 shares | Feb. 14, 2022 shares | Feb. 18, 2021 | Feb. 16, 2021 | Jul. 01, 2004 shares | Jun. 30, 2004 shares | Jul. 30, 2020 shares | Feb. 28, 2019 USD ($) | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) shares | Dec. 31, 2019 shares | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2017 USD ($) | Dec. 31, 2015 | Dec. 31, 2011 shares | Jul. 31, 2002 shares
Common Stock, Number of Votes Per Share |  |  |  |  |  |  |  |  |  |  |  | 1 |  |  |  |  |  |  |  |  |  |
Preferred Stock, Shares Authorized (in shares) |  |  |  |  |  |  |  |  |  |  |  | 5,000,000 |  | 5,000,000 |  |  |  |  |  |  |  |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  | $ 0.001 |  | $ 0.001 |  |  |  |  |  |  |  |
Stock Repurchase Program, Number of Shares Authorized to be Repurchased (in shares) |  |  |  |  |  |  |  |  |  |  |  | 1,000,000 |  |  |  |  |  |  |  |  |  |
Share Repurchase Program Additional Number of Shares Authorized To Be Repurchased (in shares) |  |  |  |  |  |  |  |  |  |  |  | 6,400,000 |  |  |  |  |  |  |  |  |  |
Stock Repurchase Program, Remaining Number of Shares Authorized to be Repurchased (in shares) |  |  |  |  |  |  |  |  |  |  |  | 278,799 |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares) | [2] |  |  |  |  |  |  |  |  |  |  | 106,000 | [1] | 126,000 |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Grants in Period (in shares) |  |  |  |  |  |  |  |  |  |  |  | 0 | [2] |  |  | 0 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercises in Period, Intrinsic Value | $ |  |  |  |  |  |  |  |  |  |  |  | $ 273 |  | $ 7,177 | $ 6,876 |  |  |  |  |  |  |
Share-Based Payment Arrangement, Employee [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares) |  |  |  |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |
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 |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 3,200,000 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares) |  |  |  | 273,693 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
The 2002 Stock Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |
The 2003 Director Stock Option Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,350,000 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 10 years |  |  |  |  |  |  |
The 2003 Director Stock Option Plan [Member] | Non-employee Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures, Total (in shares) |  |  |  |  |  |  |  |  | 38,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Requisite Service Period (Month) |  |  |  |  |  |  |  | 6 months |  |  |  |  |  |  |  |  |  |  |  |  |  |
The 2003 Director Stock Option Plan [Member] | Board of Directors [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures, Total (in shares) |  |  |  |  |  |  |  | 13,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
The 2003 Director Stock Option Plan [Member] | Committee Chairperson [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures, Total (in shares) |  |  |  |  |  |  |  | 13,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
The 2003 Director Stock Option Plan [Member] | Board of Directors Chairman [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures, Total (in shares) |  |  |  |  |  |  |  | 15,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
The 2002 Employee Stock Purchase Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  |  |  |  |  |  |  |  |  | 89,238 |  |  |  |  |  |  |  |  |  | 3,050,000
Period Employees Eligible To Participate in Employee Stock Purchase Plan (Month) |  |  |  |  |  |  |  |  |  |  |  | 5 months |  |  |  |  |  |  |  |  |  |
Minimum Working Hours for Eligibility of Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |  |  |  | 20 |  |  |  |  |  |  |  |  |  |
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] | Non-employee Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2 years | 1 year |  |  |  |
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] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  |  | 34,887 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Executive Vice President [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  | 16,114 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 9,935 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 5,961 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 7,451 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 5,961 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Board of Directors [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  |  |  |  |  |  |  | 26,984 |  | 26,551 |  | 21,392 |  |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Board of Directors Chairman [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Granted, Annualized Value | $ |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 268,520 |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Directors with a Chairperson Position [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Granted, Annualized Value | $ |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 249,340 |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Other Board of Directors [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Granted, Annualized Value | $ |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 124,670 |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Granted, Annualized Value | $ |  |  |  |  |  |  |  |  |  |  | $ 124,670 |  |  |  |  |  |  |  |  |  |  |
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] | Vesting on February 20, 2021 [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  |  |  |  |  |  |  |  |  | 33.40% | 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% | 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% | 33.30% |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Goals One [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage |  |  |  |  | 90.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Goals One [Member] | Full Vesting Based on The Achievement of 2022 License Target [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  | 50.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Goals One [Member] | Increase in Eligible PSUs, Percent [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage |  |  |  |  | 2.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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] | Goals Two [Member] | Increase in Eligible PSUs, Percent [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage |  |  |  |  | 2.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Goals Two [Member] | Full Vesting Based on The Achievement of Positive Shareholder Return [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  | 50.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Goals Two [Member] | Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage |  |  |  |  | 90.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Goals Two [Member] | Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage |  |  |  |  | 100.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  |  |  |  |  |  |  |  |  | 7,269 |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  |  |  |  | 2,981 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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, Grants in Period (in shares) |  |  |  |  |  |  |  |  |  |  |  | 1,938 |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  |  |  |  | 795 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Chief Financial Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  |  |  |  |  |  |  |  |  | 2,423 |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  |  |  |  | 994 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Chief Operating Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  |  |  |  |  |  |  |  |  | 1,938 |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  |  |  |  | 795 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Maximum [Member] | Goals One [Member] | Vesting Based on Achievement In Excess of 90 Percent [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage |  |  |  |  | 110.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Maximum [Member] | Goals Two [Member] | Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  | 99.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage |  |  |  |  | 99.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Maximum [Member] | Goals Two [Member] | Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage |  |  |  |  | 110.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Minimum [Member] | Goals One [Member] | Vesting Based on Achievement In Excess of 90 Percent [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage |  |  |  |  | 1.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Minimum [Member] | Goals Two [Member] | Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  | 91.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage |  |  |  |  | 90.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Minimum [Member] | Goals Two [Member] | Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage |  |  |  |  | 1.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Performance Share Units [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Percentage of License Revenue Target, Proportional Percentage to Be Received upon Achievement |  |  |  |  |  |  |  |  |  |  |  | 98.00% |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 14,903 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 3,974 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 4,969 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 3,974 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Options, Stock Appreciation Rights, Restricted Stock Units, and Performance Share Units [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  |  |  |  |  |  |  |  |  | 464,946 |  |  |  |  |  |  |  |  |  |
The 2003 Director Stock Option Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  |  |  |  |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |  |  |
[1] | Represent options granted to non-employee directors of the Company only. As of December 31, 2022, there were no outstanding or exercisable SAR units left and no outstanding or exercisable options granted to employees left.
[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.

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