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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.