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Note 12 - Stock-based Compensation (Details Textual) - USD ($)
$ in Thousands
1 Months Ended 12 Months Ended
Jan. 31, 2018
Dec. 31, 2011
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Common Stock, Capital Shares Reserved for Future Issuance     4,909,665    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross     0 0 0
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value     $ 12,008 $ 4,553 $ 11,312
Proceeds from Stock Options Exercised     $ 2,616 $ 719 $ 2,214
Stock Issued During Period, Shares, Employee Stock Purchase Plans     208,721 283,493 171,099
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total     $ 125,015    
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition     2 years 6 months    
Employee Stock Purchase Plan [Member]          
Maximum Percentage of Aggregate Cash Compensation for Purchase of Stock Using Payroll Deduction   15.00%      
Purchase Price PerShare as Percentage of Market Value   85.00%      
Percentage of Combined Voting Power or Value of All Classes of Stock Not Eligible to Participate   5.00%      
Fair Value of Common Stock in Calendar Year per Employee Not Eligible to Participate   $ 25      
Maximum Aggregate Number of Shares of Common Stock Available for Purchase under Employee Stock Purchase Plan     2,750,000    
Restricted Stock Units (RSUs) [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period     4 years    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period     1,811,511    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number, Ending Balance     3,822,325 4,051,685  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period     1,965,231    
Performance Shares [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period     4 years    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period     55,759    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number, Ending Balance     72,053    
Market Value Stock Units [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 702,000        
Market Value Stock Units, Performance Period 3 years        
Market Value Stock Units [Member] | Minimum [Member]          
Percentage of Target Number of Shares 0.00%        
Market Value Stock Units [Member] | Maximum [Member]          
Percentage of Target Number of Shares 225.00%