Note 13 - Selected Statements of Income Data - Financial Income, Net (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Interest income	$ 3,190	$ 1,873	$ 3,291
Gain (loss) on available-for-sale marketable securities, net	(55)	13	(6)
Amortization of premium on available-for-sale marketable securities, net	(397)	(420)	(444)
Foreign exchange gain (loss), net	74	(1,269)	443
Total	$ 2,812	$ 197	$ 3,284