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Note 1 - Organization and Significant Accounting Policies - Equity-based Compensation Expenses Related to Stock Options, SARs, RSUs and Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Total equity-based compensation expense | $ 16,198 | $ 14,505 | $ 13,055
Cost of Sales [Member] |  |  |
Total equity-based compensation expense | 826 | 687 | 513
Research and Development Expense [Member] |  |  |
Total equity-based compensation expense | 9,133 | 8,259 | 7,187
Sales and Marketing [Member] |  |  |
Total equity-based compensation expense | 1,776 | 1,503 | 1,608
General and Administrative Expense [Member] |  |  |
Total equity-based compensation expense | 3,795 | 2,888 | 3,291
Total Equity-based Compensation Expense From Continuing Operations [Member] |  |  |
Total equity-based compensation expense | 15,530 | 13,337 | 12,599
Equity-based Compensation Expense Included in Discontinued Operations [Member] |  |  |
Total equity-based compensation expense | $ 668 | $ 1,168 | $ 456

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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