Note 17 - Segment Reporting - Depreciation and Amortization (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Depreciation and amortization	$ 32,594	$ 30,864	$ 26,754
UNITED STATES
Depreciation and amortization	25,744	24,767	21,117
Europe [Member]
Depreciation and amortization	5,024	4,746	4,679
JAPAN
Depreciation and amortization	$ 1,826	$ 1,351	$ 958

The aggregate expense recognized in the current period that allocates the cost of tangible assets, intangible assets, or depleting assets to periods that benefit from use of the assets.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
-Paragraph 22
-Subparagraph (e)
-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8736-108599

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 28
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=121586364&loc=d3e3602-108585

Name:	us-gaap_DepreciationDepletionAndAmortization
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration