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
	Mar. 31, 2023	Mar. 31, 2022
Total equity-based compensation expense	$ 3,859	$ 3,389
Cost of Revenues [Member]
Total equity-based compensation expense	404	339
Research and Development, Net [Member]
Total equity-based compensation expense	2,173	1,995
Sales and Marketing [Member]
Total equity-based compensation expense	393	333
General and Administrative [Member]
Total equity-based compensation expense	$ 889	$ 722