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Note 13 - Stock-based Compensation (Tables)
12 Months Ended
Dec. 31, 2022
Notes Tables  
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
   

Stock Option Grants

 
    2022    

2021

   

2020

 

Stock price

$ 12.64 - 14.36     $ 16.38     $ 10.84  

Exercise price

$ 12.64 - 14.36     $ 16.38     $ 10.84  

Dividend yield

  0.0 %     0.00

%

    0.00

%

Expected volatility

  57.79 %     25.61

%

    29.08

%

Risk-free interest rate

  2.75 - 3.15 %     1.63

%

    0.98

%

Expected term in years

  6.25       7.50       7.00  
Share-Based Payment Arrangement, Activity [Table Text Block]
   

Performance-based Stock Units

   

Restricted Stock and Restricted Stock Units

   

Market-based Stock Units

 
   

Number of Shares

   

Weighted Average Grant Date Fair Value

   

Number of Shares

   

Weighted Average Grant Date Fair Value

   

Number of Shares

   

Weighted Average Grant Date Fair Value

 

Balance, December 31, 2019

    215,421     $ 11.16       342,046     $ 12.47       -     $ -  

Granted

    86,783       5.42       648,617       11.22       102,062       8.51  

Vested and released

    (57,022 )     8.98       (213,583 )     11.99       -       -  

Forfeited

    (66,484 )     9.69       (35,479 )     8.81       -       -  

Balance, December 31, 2020

    178,698       9.73       741,601       11.70       102,062       8.51  

Granted

    -       -       283,872       17.16       50,072       18.90  

Vested and released

    (41,990 )     10.27       (358,144 )     10.21       -       -  

Forfeited

    (61,767 )     9.79       (98,978 )     14.18       -       -  

Balance, December 31, 2021

    74,941       9.39       568,351       14.93       152,134       11.93  

Granted

    -       -       348,046       13.18       81,726       15.08  

Vested and released

    (14,543 )     15.25       (236,306 )     14.42       (76,549 )     8.51  

Forfeited

    (37,778 )     9.51       (139,368 )     14.38       (25,335 )     16.78  

Balance, December 31, 2022

    22,620       5.41       540,723       14.17       131,976       13.66  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested and Expected to Vest, Outstanding and Exercisable [Table Text Block]
   

Number of Options

   

Weighted Average Exercise Price

   

Weighted Average Contractual Live (Years)

   

Aggregate Intrinsic Value

 

Options outstanding as of December 31, 2019

    200,000     $ 9.47       7.6     $ 1,376,000  

Granted

    310,000       10.84                  

Options outstanding as of December 31, 2020

    510,000       10.30       6.7       3,476,800  

Granted

    1,000,000       16.38                  

Exercised

    (12,000 )     9.47                  

Options outstanding as of December 31, 2021

    1,498,000       14.37       8.8       1,848,040  

Granted

    200,458       14.02                  

Exercised

    (77,500 )     10.84                  

Forfeited

    (232,500 )     10.84                  

Options outstanding as of December 31, 2022

    1,388,458       15.10       7.9       -  
   

As of December 31, 2022

 
   

Number of Options

   

Weighted Average Exercise Price

   

Weighted Average Contractual Live (Years)

   

Aggregate Intrinsic Value

 

Options vested and/or expected to vest

    1,388,458     $ 15.10       7.9     $ -  

Options exercisable

    388,000       13.03       6.1       -