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Note 12 - Stockholders' Equity (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 01, 2023
Nov. 02, 2023
Dec. 31, 2022
Sep. 22, 2022
Sep. 02, 2022
Dec. 31, 2021
Common Stock, Par or Stated Value Per Share (in dollars per share) $ 0.01     $ 0.01 $ 0.01    
Stock Repurchase Program, Authorized Amount     $ 30,000 $ 0     $ 0
Rule 10b5-1 Trading Plan, Designated Amount   $ 10,000          
Stock Repurchased and Retired During Period, Value $ 835            
Stock Repurchase Program, Remaining Authorized Repurchase Amount $ 29,200            
Share Repurchase Program [Member]              
Stock Repurchased and Retired During Period, Shares (in shares) 29,000            
Stock Repurchased and Retired During Period, Value $ 800            
At-the-Market Offering [Member]              
Equity Offering, Maximum Offering Amount           $ 50,000