Note 15 - Stock-based Compensation - Compensation Related to Stock-based Awards (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Total stock-based compensation expense	$ 11,646	$ 9,168	$ 9,830
Tax effect on stock-based compensation expense	1,270	872	858
Net effect of stock-based compensation expense	10,376	8,296	8,972
Cost of Sales [Member]
Total stock-based compensation expense	6,382	4,656	4,435
Selling and Marketing Expense [Member]
Total stock-based compensation expense	1,230	766	1,081
General and Administrative Expense [Member]
Total stock-based compensation expense	$ 4,034	$ 3,746	$ 4,314