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, 2022	Dec. 31, 2021
Number of shares outstanding (in shares)	1,810	2,025
Weighted average remaining contractual life in years, options outstanding (Year)	3 years 1 month 6 days	3 years
Aggregate intrinsic value, options outstanding	$ 47,762	$ 41,967
Number of shares exercisable (in shares)	749	882
Aggregate intrinsic value, options exercisable	$ 19,513	$ 22,999
Weighted average remaining contractual life in years, options exercisable (Year)	1 year 9 months 18 days	1 year 9 months 18 days
Exercise Price 1 [Member]
Number of shares outstanding (in shares)	157	66
Weighted average remaining contractual life in years, options outstanding (Year)	2 years 1 month 6 days	1 year 3 months 18 days
Aggregate intrinsic value, options outstanding	$ 13,536	$ 5,208
Number of shares exercisable (in shares)	0	0
Aggregate intrinsic value, options exercisable	$ 0	$ 0
Exercise Price 4 [Member]
Number of shares outstanding (in shares)	8	8
Weighted average remaining contractual life in years, options outstanding (Year)	2 years	3 years
Aggregate intrinsic value, options outstanding	$ 278	$ 221
Number of shares exercisable (in shares)	6	4
Aggregate intrinsic value, options exercisable	$ 209	$ 110
Exercise price (in dollars per share)	$ 51.71	$ 51.71
Weighted average remaining contractual life in years, options exercisable (Year)	2 years	3 years
Exercise Price 2 [Member]
Number of shares outstanding (in shares)		187
Weighted average remaining contractual life in years, options outstanding (Year)		6 months
Aggregate intrinsic value, options outstanding		$ 6,796
Number of shares exercisable (in shares)		187
Aggregate intrinsic value, options exercisable		$ 6,796
Exercise price (in dollars per share)		$ 42.87
Weighted average remaining contractual life in years, options exercisable (Year)		6 months
Exercise Price 5 [Member]
Number of shares outstanding (in shares)	3	31
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	$ 108	$ 819
Number of shares exercisable (in shares)	3	26
Aggregate intrinsic value, options exercisable	$ 108	$ 689
Exercise price (in dollars per share)	$ 53.16	$ 53.16
Weighted average remaining contractual life in years, options exercisable (Year)	1 year 10 months 24 days	2 years 10 months 24 days
Exercise Price 3 [Member]
Number of shares outstanding (in shares)		15
Weighted average remaining contractual life in years, options outstanding (Year)		1 year 10 months 24 days
Aggregate intrinsic value, options outstanding		$ 478
Number of shares exercisable (in shares)		15
Aggregate intrinsic value, options exercisable		$ 478
Exercise price (in dollars per share)		$ 47.46
Weighted average remaining contractual life in years, options exercisable (Year)		1 year 10 months 24 days
Exercise Price 6 [Member]
Number of shares outstanding (in shares)	103	386
Weighted average remaining contractual life in years, options outstanding (Year)	1 year 6 months	2 years 6 months
Aggregate intrinsic value, options outstanding	$ 3,405	$ 9,985
Number of shares exercisable (in shares)	103	227
Aggregate intrinsic value, options exercisable	$ 3,405	$ 5,859
Exercise price (in dollars per share)	$ 53.44	$ 53.44
Weighted average remaining contractual life in years, options exercisable (Year)	1 year 6 months	2 years 6 months
Exercise Price 7 [Member]
Number of shares outstanding (in shares)	295	296
Weighted average remaining contractual life in years, options outstanding (Year)	10 months 24 days	1 year 10 months 24 days
Aggregate intrinsic value, options outstanding	$ 9,236	$ 7,137
Number of shares exercisable (in shares)	295	296
Aggregate intrinsic value, options exercisable	$ 9,236	$ 7,137
Exercise price (in dollars per share)	$ 55.16	$ 55.16
Weighted average remaining contractual life in years, options exercisable (Year)	10 months 24 days	1 year 10 months 24 days
Exercise Price 8 [Member]
Number of shares outstanding (in shares)	8	15
Weighted average remaining contractual life in years, options outstanding (Year)	1 year 7 months 6 days	2 years 7 months 6 days
Aggregate intrinsic value, options outstanding	$ 214	$ 320
Number of shares exercisable (in shares)	8	15
Aggregate intrinsic value, options exercisable	$ 214	$ 320
Exercise price (in dollars per share)	$ 57.97	$ 57.97
Weighted average remaining contractual life in years, options exercisable (Year)	1 year 7 months 6 days	2 years 7 months 6 days
Exercise Price 10 [Member]
Number of shares outstanding (in shares)	74	88
Weighted average remaining contractual life in years, options outstanding (Year)	10 months 24 days	1 year 10 months 24 days
Aggregate intrinsic value, options outstanding	$ 1,719	$ 1,401
Number of shares exercisable (in shares)	74	88
Aggregate intrinsic value, options exercisable	$ 1,719	$ 1,401
Exercise price (in dollars per share)	$ 63.35	$ 63.35
Weighted average remaining contractual life in years, options exercisable (Year)	10 months 24 days	1 year 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)	3 years 6 months	4 years 6 months
Aggregate intrinsic value, options outstanding	$ 1,047	$ 721
Number of shares exercisable (in shares)	23	0
Aggregate intrinsic value, options exercisable	$ 524	$ 0
Exercise price (in dollars per share)	$ 63.40	$ 63.40
Weighted average remaining contractual life in years, options exercisable (Year)	3 years 6 months	4 years 6 months
Exercise Price 12 [Member]
Number of shares outstanding (in shares)	7	12
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	$ 125	$ 139
Number of shares exercisable (in shares)	7	12
Aggregate intrinsic value, options exercisable	$ 125	$ 139
Exercise price (in dollars per share)	$ 67.54	$ 67.54
Weighted average remaining contractual life in years, options exercisable (Year)	3 years 10 months 24 days	4 years 10 months 24 days
Exercise Price 9 [Member]
Number of shares outstanding (in shares)		1
Weighted average remaining contractual life in years, options outstanding (Year)		6 months
Aggregate intrinsic value, options outstanding		$ 19
Number of shares exercisable (in shares)		1
Aggregate intrinsic value, options exercisable		$ 19
Exercise price (in dollars per share)		$ 58.79
Weighted average remaining contractual life in years, options exercisable (Year)		6 months
Exercise Price 13 [Member]
Number of shares outstanding (in shares)	47	47
Weighted average remaining contractual life in years, options outstanding (Year)	3 years 4 months 24 days	4 years 4 months 24 days
Aggregate intrinsic value, options outstanding	$ 849	$ 513
Number of shares exercisable (in shares)	23	0
Aggregate intrinsic value, options exercisable	$ 424	$ 0
Exercise price (in dollars per share)	$ 68.34	$ 68.34
Weighted average remaining contractual life in years, options exercisable (Year)	3 years 4 months 24 days	4 years 4 months 24 days
Exercise Price 14 [Member]
Number of shares outstanding (in shares)	539	799
Weighted average remaining contractual life in years, options outstanding (Year)	3 years 4 months 24 days	4 years 4 months 24 days
Aggregate intrinsic value, options outstanding	$ 9,357	$ 8,123
Number of shares exercisable (in shares)	199	1
Aggregate intrinsic value, options exercisable	$ 3,456	$ 12
Exercise price (in dollars per share)	$ 69.14	$ 69.14
Weighted average remaining contractual life in years, options exercisable (Year)	3 years 4 months 24 days	4 years 4 months 24 days
Exercise Price 15 [Member]
Number of shares outstanding (in shares)	499	4
Weighted average remaining contractual life in years, options outstanding (Year)	5 years 2 months 12 days	3 years 7 months 6 days
Aggregate intrinsic value, options outstanding	$ 7,644	$ 30
Number of shares exercisable (in shares)	0	2
Aggregate intrinsic value, options exercisable	$ 0	$ 15
Exercise price (in dollars per share)	$ 71.15	$ 71.71
Weighted average remaining contractual life in years, options exercisable (Year)	5 years 2 months 12 days	3 years 7 months 6 days
Exercise Price 16 [Member]
Number of shares outstanding (in shares)	4	0
Weighted average remaining contractual life in years, options outstanding (Year)	2 years 7 months 6 days	0 years
Aggregate intrinsic value, options outstanding	$ 59	$ 0
Number of shares exercisable (in shares)	3	0
Aggregate intrinsic value, options exercisable	$ 44	$ 0
Exercise price (in dollars per share)	$ 71.71	$ 72.14
Weighted average remaining contractual life in years, options exercisable (Year)	2 years 7 months 6 days	0 years
Exercise Price 17 [Member]
Number of shares outstanding (in shares)	5	8
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	$ 49	$ 24
Number of shares exercisable (in shares)	5	8
Aggregate intrinsic value, options exercisable	$ 49	$ 24
Exercise price (in dollars per share)	$ 76.43	$ 76.43
Weighted average remaining contractual life in years, options exercisable (Year)	2 years 10 months 24 days	3 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)	4 years 10 months 24 days	5 years
Aggregate intrinsic value, options outstanding	$ 85	$ 0
Number of shares exercisable (in shares)	0	0
Aggregate intrinsic value, options exercisable	$ 0	$ 0
Exercise price (in dollars per share)	$ 76.54	$ 90.28
Weighted average remaining contractual life in years, options exercisable (Year)	4 years 10 months 24 days	5 years
Exercise Price 19 [Member]
Number of shares outstanding (in shares)	6
Weighted average remaining contractual life in years, options outstanding (Year)	4 years 3 months 18 days
Aggregate intrinsic value, options outstanding	$ 51
Number of shares exercisable (in shares)	0
Aggregate intrinsic value, options exercisable	$ 0
Exercise price (in dollars per share)	$ 78.53
Weighted average remaining contractual life in years, options exercisable (Year)	4 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)	4 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)	4 years