Note 11 - Income Taxes (Details Textual) - USD ($) $ / shares in Thousands, $ in Thousands			12 Months Ended
	Jan. 01, 2018	Dec. 22, 2017	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred Tax Liabilities, Net			$ 123,291	$ 123,263
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent	21.00%	35.00%	21.00%	21.00%	21.00%
Unrecognized Tax Benefits			$ 16,931	$ 14,843	$ 11,497
Unrecognized Tax Benefits that Would Impact Effective Tax Rate			10,500	10,800	$ 7,900
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense			100	0
Significant Change in Unrecognized Tax Benefits is Reasonably Possible, Amount of Unrecorded Benefit			$ 0
Income Tax Holiday, Income Tax Benefits Per Share (in dollars per share)			$ 0
Effective Income Tax Rate Reconciliation, Tax Cuts and Jobs Act, Transition Tax on Accumulated Foreign Earnings,			$ 1,100
Minimum [Member]
Tax Credit Carryforward, Expiration Period (Year)			15 years
Maximum [Member]
Tax Credit Carryforward, Expiration Period (Year)			20 years
Research Tax Credit Carryforward [Member]
Tax Credit Carryforward, Amount			$ 20,800
Domestic Tax Authority [Member]
Operating Loss Carryforwards			430,200
Operating Loss Carryforwards, Valuation Allowance			23,300
State and Local Jurisdiction [Member]
Operating Loss Carryforwards			797,300
Foreign Tax Authority [Member]
Operating Loss Carryforwards			49,900
Other Assets [Member]
Deferred Tax Liabilities, Net			$ 3,500	$ 3,200