Note 10 - Stock-based Compensation - Restricted Stock Activity (Details) - Restricted Stock [Member]	9 Months Ended
	Sep. 30, 2022 $ / shares shares
Outstanding, shares (in shares) | shares	1,934,876
Outstanding, grant date fair value (in dollars per share) | $ / shares	$ 8.25
Granted, shares (in shares) | shares	240,658
Granted, grant date fair value (in dollars per share) | $ / shares	$ 5.99
Vested, shares (in shares) | shares	(435,746)
Vested, grant date fair value (in dollars per share) | $ / shares	$ 10.70
Canceled or forfeited, shares (in shares) | shares	(40,617)
Canceled or forfeited, grant date fair value (in dollars per share) | $ / shares	$ 9.14
Outstanding, shares (in shares) | shares	1,699,171
Outstanding, grant date fair value (in dollars per share) | $ / shares	$ 7.23