Note 10 - Common Stock and Stock-based Compensation Plans - Equity-based Compensation Expense Included in Interim Condensed Consolidated Statements of Income (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Total equity-based compensation expense	$ 3,691	$ 3,403	$ 10,383	$ 9,507
Cost of Revenues [Member]
Total equity-based compensation expense	393	247	1,076	509
Research and Development, Net [Member]
Total equity-based compensation expense	2,180	2,007	6,181	5,435
Sales and Marketing [Member]
Total equity-based compensation expense	392	400	1,065	1,185
General and Administrative [Member]
Total equity-based compensation expense	$ 726	$ 749	$ 2,061	$ 2,378