Note 14 - Stock-based Compensation - Compensation Related to Stock-based Awards (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Total stock-based compensation expense	$ 15,479	$ 11,646	$ 9,168
Tax effect on stock-based compensation expense	1,598	1,270	872
Net effect of stock-based compensation expense	13,881	10,376	8,296
Cost of Sales [Member]
Total stock-based compensation expense	6,899	6,382	4,656
Selling and Marketing Expense [Member]
Total stock-based compensation expense	866	1,230	766
Research and Development Expense [Member]
Total stock-based compensation expense	94	0	0
General and Administrative Expense [Member]
Total stock-based compensation expense	$ 7,620	$ 4,034	$ 3,746