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Note 10 - Common Stock and Stock-based Compensation Plans - Valuation Assumptions (Details) - The 2002 Employee Stock Purchase Plan [Member] - Purchase Rights [Member]
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Expected dividend yield   0.00%
Expected volatility, Minimum 45.00%  
Expected volatility   38.00%
Risk-free interest rate, Minimum 4.80%  
Risk-free interest rate   0.50%
Contractual term of up to (Month) 6 months 6 months