Note 11 - Income Taxes (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Undistributed Earnings of Foreign Subsidiaries	$ 85,000	$ 67,400
Unrecognized Tax Benefits	62,660	49,277	$ 41,521	$ 33,499
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	48,900	38,300
Unrecognized Tax Benefits, Interest on Income Taxes Accrued	5,700	4,300
Domestic Tax Authority [Member]
Operating Loss Carryforwards	0
Domestic Tax Authority [Member] | Research Tax Credit Carryforward [Member]
Tax Credit Carryforward, Amount	0
State and Local Jurisdiction [Member]
Operating Loss Carryforwards	3,600
State and Local Jurisdiction [Member] | Research Tax Credit Carryforward [Member]
Tax Credit Carryforward, Amount	40,600
Foreign Tax Authority [Member]
Operating Loss Carryforwards	92,700
Bermuda Subsidiary [Member]
Foreign Earnings Repatriated	$ 140,000	$ 0	$ 70,000