Note 11 - Common Stock and Stock-based Compensation Plans - Equity-based Compensation Expense Included in Interim Condensed Consolidated Statements of Income (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Total equity-based compensation expense	$ 4,205	$ 3,303	$ 8,064	$ 6,692
Cost of Revenues [Member]
Total equity-based compensation expense	390	344	794	683
Research and Development, Net [Member]
Total equity-based compensation expense	2,420	2,006	4,593	4,001
Sales and Marketing [Member]
Total equity-based compensation expense	468	340	861	673
General and Administrative [Member]
Total equity-based compensation expense	$ 927	$ 613	$ 1,816	$ 1,335