Note 10 - Leases - Balance Sheet Information (Details) - USD ($) $ in Thousands		Sep. 30, 2023	Dec. 31, 2022
Operating lease assets		$ 17,287	$ 22,804	[1]
Total lease assets		17,542	23,127
Total lease liabilities		$ 18,881	$ 24,185
Operating leases (Year)		5 years 7 months 6 days	6 years 2 months 12 days
Finance leases (Year)		2 years 3 months 18 days	1 year 8 months 12 days
Operating leases		6.40%	6.20%
Finance leases		3.80%	2.20%
Property, Plant and Equipment, Net [Member]
Finance lease assets	[2]	$ 255	$ 323
Other Accrued Liabilities [Member]
Operating, current		4,971	4,927
Finance, current		12	49
Long-term Lease Liabilities [Member]
Operating, noncurrent		13,882	19,185
Finance, noncurrent		$ 16	$ 24

[1] Derived from December 31, 2022 audited financial statements

[2] Finance lease assets are recorded net of accumulated amortization of $0.3 million and $0.2 million as of September 30, 2023 and December 31, 2022, respectively.