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Note 10 - Stockholders' Equity and Stock-based Compensation (Details Textual)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended 24 Months Ended
Feb. 09, 2023
USD ($)
Oct. 27, 2022
shares
Jun. 08, 2022
shares
Oct. 28, 2021
shares
Jun. 09, 2021
shares
Apr. 27, 2021
shares
Mar. 19, 2021
shares
Dec. 10, 2020
shares
Nov. 02, 2019
shares
Dec. 21, 2018
shares
Feb. 28, 2021
shares
Feb. 29, 2020
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2018
shares
Feb. 12, 2018
USD ($)
Oct. 03, 2012
$ / shares
shares
Preferred Stock, Shares Authorized (in shares)                         20,000,000 20,000,000   20,000,000     20,000,000.0
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares                         $ 0.001 $ 0.001   $ 0.001     $ 0.001
Preferred Stock, Shares Issued (in shares)                         0 0   0      
Preferred Stock, Shares Outstanding, Ending Balance (in shares)                         0 0   0      
Share-Based Payment Arrangement, Expense, Tax Benefit | $                         $ 8,300 $ 6,200 $ 5,300        
Share-based Payment Arrangement, Accelerated Cost | $                           27,300          
Share-Based Payment Arrangement, Expense | $                         $ 53,408 $ 67,579 $ 40,035        
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares                         $ 50.32 $ 41.23 $ 35.49        
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value | $                         $ 39,800 $ 42,500 $ 77,500        
Stock Repurchased and Retired During Period, Shares (in shares)                         2,500,000 1,100,000 1,300,000        
Stock Repurchased and Retired During Period, Value | $                         $ 317,300 $ 130,000 $ 126,700        
Stock Repurchase Program, Remaining Authorized Repurchase Amount | $                         154,500     $ 154,500      
Stock Repurchase Program, Authorized Amount | $                         900,000     900,000   $ 100,000  
Subsequent Event [Member]                                      
Stock Repurchase Program, Additional Authorized Amount | $ $ 100,000                                    
Stock Repurchase Program, Authorized Amount | $ $ 1,000,000                                    
Share-Based Payment Arrangement, Option [Member]                                      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $                         $ 24,500     24,500      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)                         2 years 10 months 24 days            
Share-Based Payment Arrangement, Option [Member] | Performance Shares [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)               3 years                      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)               224,000 124,000                    
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares)             348,000                        
Share-Based Payment Arrangement, Expense | $                         $ 0 13,300 200        
Restricted Stock Units (RSUs) [Member]                                      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $                         $ 92,200     92,200      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)                         2 years 9 months 18 days            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) [1]                         330,000            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) [2]                         711,000            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value | $                         $ 43,900 59,500 46,500        
Restricted Stock Units (RSUs) [Member] | Time based Shared Based Compensation [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)               69,000 49,000                    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                   56,000                  
Share based Compensation Arrangement by Share based Payment Award, Vesting Period, Number Of Quarterly Periods               16 16 16                  
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares)             127,000                        
Restricted Stock Units (RSUs) [Member] | Performance Shares [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                   3 years                  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)                   33             33,000    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                     22,000 15,000              
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage                   33.33%                  
Share-Based Compensation Arrangement By Share-based Payment Award, Equity Instruments Other Than Options, Target Number Of Shares (in shares)                   11,000                  
Share-based Compensation Termination Period Trigger (Month)               12 months                      
Share-Based Compensation, Percentage Of Shares That Will Vest Upon Trigger       100.00%       100.00%                      
Share-Based Compensation Arrangement By Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period As A Percentage Of Target                     200.00% 135.00%              
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares)             44,000                        
Share-Based Payment Arrangement, Expense | $                         3,900 $ 5,300 $ 2,800        
ESPP Shares [Member]                                      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $                         $ 300     $ 300      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)                         1 month 6 days            
Performance-based Restricted Stock Units [Member] | President and Chief Executive Officer [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)           3 years                          
Share-based Compensation Termination Period Trigger (Month)           12 months                          
Share-Based Compensation, Percentage Of Shares That Will Vest Upon Trigger           100.00% 100.00%                        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)           10,000                          
Performance-based Restricted Stock Units [Member] | Executive Officer [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)   3 years   3 years                              
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                           49,000          
Share-based Compensation Termination Period Trigger (Month)       12 months                              
Share-Based Compensation, Percentage Of Shares That Will Vest Upon Trigger       100.00%                              
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   86,000   73,000                 58,000 68,000   175,000      
Maximum [Member] | Share-Based Payment Arrangement, Option [Member] | Performance Shares [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage               200.00% 200.00%                    
Maximum [Member] | Restricted Stock Units (RSUs) [Member] | President and Chief Executive Officer [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage                   200.00%                  
Maximum [Member] | Restricted Stock Units (RSUs) [Member] | Performance Shares, Tranche Three [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage       200.00%           200.00%                  
Maximum [Member] | Performance-based Restricted Stock Units [Member] | President and Chief Executive Officer [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage           200.00%                          
Maximum [Member] | Performance-based Restricted Stock Units [Member] | Executive Officer [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage   200.00%                       200.00%          
Minimum [Member] | Share-Based Payment Arrangement, Option [Member] | Performance Shares [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage               0.00% 0.00%                    
Minimum [Member] | Restricted Stock Units (RSUs) [Member] | President and Chief Executive Officer [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage                   0.00%                  
Minimum [Member] | Restricted Stock Units (RSUs) [Member] | Performance Shares, Tranche Three [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage       0.00%           0.00%                  
Minimum [Member] | Performance-based Restricted Stock Units [Member] | President and Chief Executive Officer [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage           0.00%                          
Minimum [Member] | Performance-based Restricted Stock Units [Member] | Executive Officer [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Target Percentage   0.00%                                  
The 2000 Equity Incentive Plan [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Strike Price as a Percentage of Market Value                         85.00%     85.00%      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)                         0     0      
The 2000 Equity Incentive Plan [Member] | Maximum [Member] | Share-Based Payment Arrangement, Option [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                         4 years            
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)                         10 years            
The 2012 Equity Incentive Plan [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                         4 years            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)     9,689,000                   2,351,000     2,351,000      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized, Annual Increase, Shares (in shares)                             3,050,000        
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized, Annual Increase, Percent of Shares Outstanding                         5.00%     5.00%      
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares)     3,072,000                   1,956,000            
The 2021 Employee Stock Purchase Plan [Member]                                      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)                         555,000     555,000      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)         600,000                            
Share-based Compensation Arrangement by Share-based Payment Award, Offering Period (Month)         6 months                            
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent         85.00%                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares                         $ 39.14            
The 2021 Employee Stock Purchase Plan [Member] | Maximum [Member]                                      
Employee Stock Purchase Plan, Percentage of Eligible Compensation Contributable         15.00%                            
The 2021 Employee Stock Purchase Plan [Member] | Minimum [Member]                                      
Employee Stock Purchase Plan, Percentage of Eligible Compensation Contributable         1.00%                            
[1] Included 58 thousand shares of PSUs granted to certain executive officers in 2022 and 49 thousand shares of PSU granted in 2021 as a result of defining the level of performance goals for performance year 2023.
[2] Included 68 thousand shares of PSUs granted to certain executive officers in 2021 for performance year 2022 at 200% vest level.