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Note 9 - Stockholders' Equity (Details Textual) $ / shares in Units, $ in Thousands							12 Months Ended
	Feb. 14, 2023 USD ($) $ / shares shares	Dec. 07, 2022 USD ($)	Nov. 09, 2022 USD ($) shares	Jun. 02, 2022 shares	Feb. 14, 2022 shares	Feb. 16, 2021	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($)	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Jan. 31, 2023 shares	Dec. 31, 2011 shares	Jul. 31, 2002 shares
Common Stock, Number of Votes Per Share							1
Preferred Stock, Shares Authorized (in shares)							5,000,000	5,000,000
Preferred Stock, Par or Stated Value Per Share (in dollars per share) \| $ / shares							$ 0.001	$ 0.001
Stock Repurchase Program, Number of Shares Authorized to be Repurchased (in shares)							1,000,000
Share Repurchase Program Additional Number of Shares Authorized To Be Repurchased (in shares)							6,400,000						700,000
Stock Repurchase Program, Remaining Number of Shares Authorized to be Repurchased (in shares)							700,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)												1 year
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) \| $ / shares							$ 11.3
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercises in Period, Intrinsic Value \| $							$ 173	$ 273	$ 7,177
Short-Term Executive PSUs [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded, Percentage					30.00%
Short-Term Executive PSUs [Member] \| Vesting on February 17, 2024 [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage							33.40%
Short-Term Executive PSUs [Member] \| Vesting on February 17, 2025 [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage							33.30%
Short-Term Executive PSUs [Member] \| Vesting on February 17, 2026 [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage							33.30%
Short-Term Executive PSUs [Member] \| Goals One [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage					90.00%
Short-Term Executive PSUs [Member] \| Goals One [Member] \| Full Vesting Based on The Achievement of 2022 License Target [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage					50.00%
Short-Term Executive PSUs [Member] \| Goals One [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage					2.00%
Short-Term Executive PSUs [Member] \| Goals Two [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage					25.00%
Short-Term Executive PSUs [Member] \| Goals Two [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage					2.00%
Short-Term Executive PSUs [Member] \| Goals Two [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage					25.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage					90.00%
Short-Term Executive PSUs [Member] \| Goals Two [Member] \| Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage					100.00%
Short-Term Executive PSUs [Member] \| Goals Three [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage	25.00%
Short-Term Executive PSUs [Member] \| Goals Three [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage	2.00%
Short-Term Executive PSUs [Member] \| Goals Three [Member] \| Full Vesting Based on The Achievement of Positive Shareholder Return [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage	25.00%
Short-Term Executive PSUs [Member] \| Goals Three [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage	90.00%
Long-term PSUs [Member]
Share-based Payment Arrangement, Vesting Requirements, Annual Growth Rate, Percentage of Three Year Non-GAAP EPS	10.00%
Share-based Payment Arrangement, Vesting Requirements, Minimum Non-GAAP EPS (in dollars per share) \| $ / shares	$ 1
Share-based Payment Arrangement, Vesting Requirements, Percentage of Non-GAAP Operating Margin	20.00%
Share-based Payment Arrangement, Vesting Requirements, Percentage of Annual Growth Rate for Revenue	10.00%
Share-based Payment Arrangement, Vesting Requirements, Minimum Revenue \| $	$ 180,000
Share-based Payment Arrangement, Vesting Requirements, Minimum Market Capitalization for 30 Consecutive Trading Days \| $	$ 1,100,000
Stock Options, Stock Appreciation Rights, Restricted Stock Units, and Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant							952,259
Non-employee Director [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Annual Vesting, Percentage							25.00%
Non-employee Director [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)											2 years	1 year
Employees [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)										3 years
Chief Executive Officer [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded					1,332
Chief Executive Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period			34,887
Chief Executive Officer [Member] \| Short-Term Executive PSUs [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded					6,543
Chief Executive Officer [Member] \| Short-Term Executive PSUs [Member] \| Goals Three [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage	3.00%
Chief Executive Officer [Member] \| Long-term PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	60,587
Chief Commercial Officer [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded					727
Chief Commercial Officer [Member] \| Long-term PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	30,293
Chief Financial Officer [Member] \| Long-term PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	30,293
Chief Operating Officer [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded					1,090
Chief Operating Officer [Member] \| Long-term PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	30,293
Maximum [Member] \| Short-Term Executive PSUs [Member] \| Goals One [Member] \| Vesting Based on Achievement In Excess of 90 Percent [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage					99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage					99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage					110.00%
Maximum [Member] \| Short-Term Executive PSUs [Member] \| Goals Two [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage					99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage					99.00%
Maximum [Member] \| Short-Term Executive PSUs [Member] \| Goals Two [Member] \| Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage					110.00%
Maximum [Member] \| Short-Term Executive PSUs [Member] \| Goals Three [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage	99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage	99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage	110.00%
Minimum [Member] \| Short-Term Executive PSUs [Member] \| Goals One [Member] \| Vesting Based on Achievement In Excess of 90 Percent [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage					91.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage					1.00%
Minimum [Member] \| Short-Term Executive PSUs [Member] \| Goals Two [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage					91.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage					90.00%
Minimum [Member] \| Short-Term Executive PSUs [Member] \| Goals Two [Member] \| Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage					1.00%
Minimum [Member] \| Short-Term Executive PSUs [Member] \| Goals Three [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage	91.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage	90.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage	1.00%
The2011 Stock Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights Vesting Percentage, Year One							25.00%
Share-based Compensation Arrangement by Share-based Payment Award, Remaining Vesting Period (Month)							36 months
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized														4,350,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares)				273,693
The2011 Stock Incentive Plan [Member] \| Non-employee Director [Member] \| Restricted Stock Units (RSUs) [Member] \| Vesting After the First Anniversary Grant Date [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage						50.00%
The2011 Stock Incentive Plan [Member] \| Chief Executive Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	14,541		46,911
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Fair Value \| $			$ 1,200
The2011 Stock Incentive Plan [Member] \| Chief Executive Officer [Member] \| Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	21,811
The2011 Stock Incentive Plan [Member] \| Chief Commercial Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period							3,909
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Fair Value \| $		$ 100
The2011 Stock Incentive Plan [Member] \| Executive Vice President, Worldwide Sales [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	9,996
The2011 Stock Incentive Plan [Member] \| Executive Vice President, Worldwide Sales [Member] \| Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	6,664
The2011 Stock Incentive Plan [Member] \| Chief Financial Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	8,179
The2011 Stock Incentive Plan [Member] \| Chief Financial Officer [Member] \| Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	5,452
The2011 Stock Incentive Plan [Member] \| Chief Operating Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	5,452
The2011 Stock Incentive Plan [Member] \| Chief Operating Officer [Member] \| Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period	3,635
The2011 Stock Incentive Plan [Member] \| Maximum [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)							4 years
The 2002 Employee Stock Purchase Plan [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant							355,300								3,450,000
Period Employees Eligible To Participate in Employee Stock Purchase Plan (Month)							5 months
Minimum Working Hours for Eligibility of Employee Stock Purchase Plan							20