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Note 10 - Shareholders' Equity and Stock-based Compensation (Details Textual) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
3 Months Ended 6 Months Ended
May 04, 2021
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) 500          
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)       0    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)   459   459   73
Share-based Payment Arrangement, Expense   $ 566 $ 1,336 $ 1,019 $ 1,712  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total   $ 3,320   $ 3,320    
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)       2 years 1 month 6 days    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value       $ 1,333    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)   300   300    
Share-based Compensation Arrangement by Share-based Payment Award, Shares Purchased for Award (in shares)       5 8  
Maximum [Member] | The 2006 Equity Incentive Plan [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)   256   256    
Restricted Stock Units Other than Performance Restricted Stock Units [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)       113    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share)       $ 21.35    
Performance Restricted Stock Units [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)       15    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share)       $ 21.78    
Restricted Stock Units (RSUs) [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)       128    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)       3 years    
Share-based Payment Arrangement, Option [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, Options, Grants in Period, Gross (in shares)       0 0  
Share-based Compensation Arrangement by Share-based Payment Award, Options Forfeitures In Order to Cover Exercise Price (in shares)       11    
Share-based Payment Arrangement, Option [Member] | Maximum [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)       10 years