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Note 15 - Stock-based Compensation - Summary of Information About Stock-based Awards Outstanding (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Number of shares outstanding (in shares) 2,025 2,240
Weighted average remaining contractual life in years, options outstanding (Year) 3 years 3 years 10 months 24 days
Aggregate intrinsic value, options outstanding $ 41,967 $ 73,039
Number of shares exercisable (in shares) 882 704
Aggregate intrinsic value, options exercisable $ 22,999 $ 27,211
Weighted average remaining contractual life in years, options exercisable (Year) 1 year 9 months 18 days 2 years 7 months 6 days
Exercise Price 1 [Member]    
Number of shares outstanding (in shares) 66 85
Weighted average remaining contractual life in years, options outstanding (Year) 1 year 3 months 18 days 2 years 1 month 6 days
Aggregate intrinsic value, options outstanding $ 5,208 $ 7,677
Number of shares exercisable (in shares) 0 0
Aggregate intrinsic value, options exercisable $ 0 $ 0
Exercise Price 2 [Member]    
Number of shares outstanding (in shares) 187 235
Weighted average remaining contractual life in years, options outstanding (Year) 6 months 1 year 6 months
Aggregate intrinsic value, options outstanding $ 6,796 $ 11,129
Number of shares exercisable (in shares) 187 235
Aggregate intrinsic value, options exercisable $ 6,796 $ 11,129
Exercise price (in dollars per share) $ 42.87 $ 42.87
Weighted average remaining contractual life in years, options exercisable (Year) 6 months 1 year 6 months
Exercise Price 3 [Member]    
Number of shares outstanding (in shares) 15 15
Weighted average remaining contractual life in years, options outstanding (Year) 1 year 10 months 24 days 2 years 10 months 24 days
Aggregate intrinsic value, options outstanding $ 478 $ 642
Number of shares exercisable (in shares) 15 15
Aggregate intrinsic value, options exercisable $ 478 $ 642
Exercise price (in dollars per share) $ 47.46 $ 47.46
Weighted average remaining contractual life in years, options exercisable (Year) 1 year 10 months 24 days 2 years 10 months 24 days
Exercise Price 4 [Member]    
Number of shares outstanding (in shares) 8 8
Weighted average remaining contractual life in years, options outstanding (Year) 3 years 4 years
Aggregate intrinsic value, options outstanding $ 221 $ 309
Number of shares exercisable (in shares) 4 0
Aggregate intrinsic value, options exercisable $ 110 $ 0
Exercise price (in dollars per share) $ 51.71 $ 51.71
Weighted average remaining contractual life in years, options exercisable (Year) 3 years 4 years
Exercise Price 5 [Member]    
Number of shares outstanding (in shares) 31 31
Weighted average remaining contractual life in years, options outstanding (Year) 2 years 10 months 24 days 3 years 10 months 24 days
Aggregate intrinsic value, options outstanding $ 819 $ 1,164
Number of shares exercisable (in shares) 26 21
Aggregate intrinsic value, options exercisable $ 689 $ 792
Exercise price (in dollars per share) $ 53.16 $ 53.16
Weighted average remaining contractual life in years, options exercisable (Year) 2 years 10 months 24 days 3 years 10 months 24 days
Exercise Price 6 [Member]    
Number of shares outstanding (in shares) 386 486
Weighted average remaining contractual life in years, options outstanding (Year) 2 years 6 months 3 years 6 months
Aggregate intrinsic value, options outstanding $ 9,985 $ 17,893
Number of shares exercisable (in shares) 227 129
Aggregate intrinsic value, options exercisable $ 5,859 $ 4,719
Exercise price (in dollars per share) $ 53.44 $ 53.44
Weighted average remaining contractual life in years, options exercisable (Year) 2 years 6 months 3 years 6 months
Exercise Price 7 [Member]    
Number of shares outstanding (in shares) 296 296
Weighted average remaining contractual life in years, options outstanding (Year) 1 year 10 months 24 days 2 years 10 months 24 days
Aggregate intrinsic value, options outstanding $ 7,137 $ 10,384
Number of shares exercisable (in shares) 296 213
Aggregate intrinsic value, options exercisable $ 7,137 $ 7,484
Exercise price (in dollars per share) $ 55.16 $ 55.16
Weighted average remaining contractual life in years, options exercisable (Year) 1 year 10 months 24 days 2 years 10 months 24 days
Exercise Price 8 [Member]    
Number of shares outstanding (in shares) 15 15
Weighted average remaining contractual life in years, options outstanding (Year) 2 years 7 months 6 days 3 years 7 months 6 days
Aggregate intrinsic value, options outstanding $ 320 $ 485
Number of shares exercisable (in shares) 15 15
Aggregate intrinsic value, options exercisable $ 320 $ 485
Exercise price (in dollars per share) $ 57.97 $ 57.97
Weighted average remaining contractual life in years, options exercisable (Year) 2 years 7 months 6 days 3 years 7 months 6 days
Exercise Price 9 [Member]    
Number of shares outstanding (in shares) 1 1
Weighted average remaining contractual life in years, options outstanding (Year) 6 months 1 year 6 months
Aggregate intrinsic value, options outstanding $ 19 $ 33
Number of shares exercisable (in shares) 1 0
Aggregate intrinsic value, options exercisable $ 19 $ 0
Exercise price (in dollars per share) $ 58.79 $ 58.79
Weighted average remaining contractual life in years, options exercisable (Year) 6 months 1 year 6 months
Exercise Price 10 [Member]    
Number of shares outstanding (in shares) 88 94
Weighted average remaining contractual life in years, options outstanding (Year) 1 year 10 months 24 days 2 years 10 months 24 days
Aggregate intrinsic value, options outstanding $ 1,401 $ 2,525
Number of shares exercisable (in shares) 88 68
Aggregate intrinsic value, options exercisable $ 1,401 $ 1,843
Exercise price (in dollars per share) $ 63.35 $ 63.35
Weighted average remaining contractual life in years, options exercisable (Year) 1 year 10 months 24 days 2 years 10 months 24 days
Exercise Price 11 [Member]    
Number of shares outstanding (in shares) 45 45
Weighted average remaining contractual life in years, options outstanding (Year) 4 years 6 months 5 years 6 months
Aggregate intrinsic value, options outstanding $ 721 $ 1,219
Number of shares exercisable (in shares) 0 0
Aggregate intrinsic value, options exercisable $ 0 $ 0
Exercise price (in dollars per share) $ 63.40 $ 63.40
Weighted average remaining contractual life in years, options exercisable (Year) 4 years 6 months 5 years 6 months
Exercise Price 12 [Member]    
Number of shares outstanding (in shares) 12 12
Weighted average remaining contractual life in years, options outstanding (Year) 4 years 10 months 24 days 5 years 10 months 24 days
Aggregate intrinsic value, options outstanding $ 139 $ 269
Number of shares exercisable (in shares) 12 0
Aggregate intrinsic value, options exercisable $ 139 $ 0
Exercise price (in dollars per share) $ 67.54 $ 67.54
Weighted average remaining contractual life in years, options exercisable (Year) 4 years 10 months 24 days 5 years 10 months 24 days
Exercise Price 13 [Member]    
Number of shares outstanding (in shares) 47 47
Weighted average remaining contractual life in years, options outstanding (Year) 4 years 4 months 24 days 5 years 4 months 24 days
Aggregate intrinsic value, options outstanding $ 513 $ 1,027
Number of shares exercisable (in shares) 0 0
Aggregate intrinsic value, options exercisable $ 0 $ 0
Exercise price (in dollars per share) $ 68.34 $ 68.34
Weighted average remaining contractual life in years, options exercisable (Year) 4 years 4 months 24 days 5 years 4 months 24 days
Exercise Price 14 [Member]    
Number of shares outstanding (in shares) 799 842
Weighted average remaining contractual life in years, options outstanding (Year) 4 years 4 months 24 days 5 years 4 months 24 days
Aggregate intrinsic value, options outstanding $ 8,123 $ 17,820
Number of shares exercisable (in shares) 1 0
Aggregate intrinsic value, options exercisable $ 12 $ 0
Exercise price (in dollars per share) $ 69.14 $ 69.14
Weighted average remaining contractual life in years, options exercisable (Year) 4 years 4 months 24 days 5 years 4 months 24 days
Exercise Price 15 [Member]    
Number of shares outstanding (in shares) 1 4
Weighted average remaining contractual life in years, options outstanding (Year) 6 months 4 years 7 months 6 days
Aggregate intrinsic value, options outstanding $ 5 $ 74
Number of shares exercisable (in shares) 0
Aggregate intrinsic value, options exercisable $ 0 $ 0
Exercise price (in dollars per share) $ 70.10 $ 71.71
Weighted average remaining contractual life in years, options exercisable (Year) 6 months 4 years 7 months 6 days
Exercise Price 16 [Member]    
Number of shares outstanding (in shares) 4 15
Weighted average remaining contractual life in years, options outstanding (Year) 3 years 7 months 6 days 4 years 8 months 12 days
Aggregate intrinsic value, options outstanding $ 30 $ 272
Number of shares exercisable (in shares) 2 0
Aggregate intrinsic value, options exercisable $ 15 $ 0
Exercise price (in dollars per share) $ 71.71 $ 72.14
Weighted average remaining contractual life in years, options exercisable (Year) 3 years 7 months 6 days 4 years 8 months 12 days
Exercise Price 17 [Member]    
Number of shares outstanding (in shares) 8 8
Weighted average remaining contractual life in years, options outstanding (Year) 3 years 10 months 24 days 4 years 10 months 24 days
Aggregate intrinsic value, options outstanding $ 24 $ 117
Number of shares exercisable (in shares) 8 8
Aggregate intrinsic value, options exercisable $ 24 $ 117
Exercise price (in dollars per share) $ 76.43 $ 76.43
Weighted average remaining contractual life in years, options exercisable (Year) 3 years 10 months 24 days 4 years 10 months 24 days
Exercise Price 18 [Member]    
Number of shares outstanding (in shares) 9 1
Weighted average remaining contractual life in years, options outstanding (Year) 5 years 10 months 24 days 2 years 9 months 18 days
Aggregate intrinsic value, options outstanding $ 23 $ 0
Number of shares exercisable (in shares) 0 0
Aggregate intrinsic value, options exercisable $ 0
Exercise price (in dollars per share) $ 76.54 $ 90.28
Weighted average remaining contractual life in years, options exercisable (Year) 5 years 10 months 24 days 2 years 9 months 18 days
Exercise Price 19 [Member]    
Number of shares outstanding (in shares) 6  
Weighted average remaining contractual life in years, options outstanding (Year) 5 years 3 months 18 days  
Aggregate intrinsic value, options outstanding $ 5  
Number of shares exercisable (in shares) 0  
Aggregate intrinsic value, options exercisable  
Exercise price (in dollars per share) $ 78.53  
Weighted average remaining contractual life in years, options exercisable (Year) 5 years 3 months 18 days  
Exercise Price 20 [Member]    
Number of shares outstanding (in shares) 1  
Weighted average remaining contractual life in years, options outstanding (Year) 5 years  
Aggregate intrinsic value, options outstanding $ 0  
Number of shares exercisable (in shares) 0  
Aggregate intrinsic value, options exercisable $ 0  
Exercise price (in dollars per share) $ 90.28  
Weighted average remaining contractual life in years, options exercisable (Year) 5 years