Note 13 - Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Allocated share-based compensation expense	$ 17,545	$ 19,095	$ 14,673
Cost of Sales [Member]
Allocated share-based compensation expense	2,172	2,595	2,451
Selling and Marketing Expense [Member]
Allocated share-based compensation expense	3,295	3,736	3,121
Research and Development Expense [Member]
Allocated share-based compensation expense	2,189	2,833	2,440
General and Administrative Expense [Member]
Allocated share-based compensation expense	9,889	9,931	6,661
Stock Options, Restricted Stock, and Other [Member]
Allocated share-based compensation expense	16,103	17,553	13,327
ESPP [Member]
Allocated share-based compensation expense	$ 1,442	$ 1,542	$ 1,346