Note 13 - Stock-based Compensation - Stock-based Compensation (Details) - The 2006, 2016 and 2021 [Member] - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Stock-based Compensation	$ 8,104	$ 8,274
Cost of Sales [Member]
Stock-based Compensation	670	578
Selling and Marketing Expense [Member]
Stock-based Compensation	2,201	2,462
General and Administrative Expense [Member]
Stock-based Compensation	4,382	4,484
Research and Development Expense [Member]
Stock-based Compensation	$ 851	$ 750