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Note 10 - Common Stock and Stock-based Compensation Plans (Details Textual)
 3 Months Ended 12 Months Ended
Feb. 17, 2023
Feb. 14, 2023
USD ($)
$ / shares
shares
Jan. 01, 2023
USD ($)
shares
Nov. 09, 2022
shares
Feb. 14, 2022
shares
Feb. 18, 2021
Feb. 16, 2021
Mar. 31, 2023
USD ($)
shares
Dec. 31, 2021
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2022
shares
 [1],[2]
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares)               106,000         106,000
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Grants in Period (in shares)               0          
The 2002 Employee Stock Purchase Plan [Member]                          
Minimum Working Hours for Eligibility of Employee Stock Purchase Plan               20          
Restricted Stock Units (RSUs) [Member] | Vesting on February 17, 2024 [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 33.40%                        
Restricted Stock Units (RSUs) [Member] | Vesting on February 17, 2025 [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 33.30%                        
Restricted Stock Units (RSUs) [Member] | Vesting on February 17, 2026 [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 33.30%                        
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         30.00% 20.00%              
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] | Vesting Based on Achievement In Excess of 90 Percent [Member] | Maximum [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%                
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] | Goals One [Member] | Vesting Based on Achievement In Excess of 90 Percent [Member] | Minimum [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, Actual Performance Results, in Excess of Performance Threshold, Percentage         1.00%                
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         25.00%                
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] | 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         25.00%                
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 Being at Least 90 Percent of S&P500 Index [Member] | Maximum [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] | Goals Two [Member] | Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member] | Minimum [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] | 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] | Goals Two [Member] | Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member] | Maximum [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] | Goals Two [Member] | Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member] | Minimum [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] | Goals Three [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   25.00%                      
Short-Term Executive PSUs [Member] | Goals Three [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 Three [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   25.00%                      
Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         90.00%                
Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member] | Maximum [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] | Goals Three [Member] | Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member] | Minimum [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] | Goals Three [Member] | Vesting Based on Actual Return In Excess of 100 Percent of Russel 2000 Index [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         100.00%                
Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return In Excess of 100 Percent of Russel 2000 Index [Member] | Maximum [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] | Goals Three [Member] | Vesting Based on Actual Return In Excess of 100 Percent of Russel 2000 Index [Member] | Minimum [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] | 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%        
Long-term PSUs [Member]                          
Share-based Payment Arrangement, Vesting Requirements, Annual Growth Rate, Percentage of Three Year Non-GAAP EPS   10.00%                      
Share-based Payment Arrangement, Vesting Requirements, Minimum Non-GAAP EPS (in dollars per share) | $ / shares   $ 1.00                      
Share-based Payment Arrangement, Vesting Requirements, Percentage of Non-GAAP Operating Margin   20.00%                      
Share-based Payment Arrangement, Vesting Requirements, Percentage of Annual Growth Rate for Revenue   10.00%                      
Share-based Payment Arrangement, Vesting Requirements, Minimum Revenue | $   $ 180,000,000                      
Share-based Payment Arrangement, Vesting Requirements, Minimum Market Capitalization for 30 Consecutive Trading Days | $   $ 1,100,000,000                      
RSUs and PSUs [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)               141,165          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)               389,560          
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $               $ 26,615,000          
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)               1 year 6 months          
Employees [Member] | Restricted Stock Units (RSUs) [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                   3 years      
Non-employee Director [Member] | Restricted Stock Units (RSUs) [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                     2 years 1 year  
Non-employee Director [Member] | Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Vesting After the First Anniversary Grant Date [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             50.00%            
Chief Executive Officer [Member] | Restricted Stock Units (RSUs) [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)       34,887                  
Chief Executive Officer [Member] | Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     3 years                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   14,541 46,911                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Fair Value | $     $ 1,200                    
Chief Executive Officer [Member] | Performance Share Units [Member] | The2011 Stock Incentive Plan [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   21,811                      
Chief Executive Officer [Member] | 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 (in shares)         6,543                
Chief Executive Officer [Member] | 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         3.00%                
Chief Executive Officer [Member] | 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         3.00%                
Chief Executive Officer [Member] | Short-Term Executive PSUs [Member] | Goals Three [Member] | Increase in Eligible PSUs, Percent [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage         3.00%                
Chief Executive Officer [Member] | Long-term PSUs [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   60,587                      
Chief Commercial Officer [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)         727                
Chief Commercial Officer [Member] | Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member]                          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     3 years                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   5,452 3,909                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Fair Value | $     $ 100                    
Chief Commercial Officer [Member] | Performance Share Units [Member] | The2011 Stock Incentive Plan [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   3,635                      
Chief Commercial Officer [Member] | Long-term PSUs [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   30,293                      
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)         1,332                
Chief Financial Officer [Member] | Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   9,996                      
Chief Financial Officer [Member] | Performance Share Units [Member] | The2011 Stock Incentive Plan [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   6,664                      
Chief Financial Officer [Member] | Long-term PSUs [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   30,293                      
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)         1,090                
Chief Operating Officer [Member] | Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   8,179                      
Chief Operating Officer [Member] | Performance Share Units [Member] | The2011 Stock Incentive Plan [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   5,452                      
Chief Operating Officer [Member] | Long-term PSUs [Member]                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   30,293                      
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          
[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.