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Note 8 - Stock-based Compensation - Summary of Restricted Common Stock Activity (Details) - $ / shares
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Restricted Stock [Member]    
Outstanding, Shares (in shares) [1] 917,533 977,547
Outstanding, Weighted average grant date fair value (in dollars per share) [1] $ 16.84 $ 15.45
Granted, Shares (in shares) [1] 343,402 327,265
Granted, Weighted average grant date fair value (in dollars per share) [1] $ 18.73 $ 19.25
Vested, Shares (in shares) (580,963) (301,185)
Vested, Weighted average grant date fair value (in dollars per share) $ 15.48 $ 15.28
Forfeited, Shares (in shares) 0 (85,630)
Forfeited, Weighted average grant date fair value (in dollars per share) $ 0 $ 15.53
Outstanding, Shares (in shares) [1] 679,972 917,997
Outstanding, Weighted average grant date fair value (in dollars per share) [1] $ 18.96 $ 16.86
Restricted Stock [Member] | Common Class A [Member]    
Outstanding, Shares (in shares) [1] 480,042 449,284
Outstanding, Weighted average grant date fair value (in dollars per share) [1] $ 16.10 $ 13.55
Granted, Shares (in shares) [1] 233,425 166,814
Granted, Weighted average grant date fair value (in dollars per share) [1] $ 17.67 $ 19.87
Vested, Shares (in shares) (248,539) (136,056)
Vested, Weighted average grant date fair value (in dollars per share) $ 15.00 $ 12.32
Outstanding, Shares (in shares) [1] 464,928 480,042
Outstanding, Weighted average grant date fair value (in dollars per share) [1] $ 17.47 $ 16.10
Restricted Stock Units (RSUs) [Member]    
Outstanding, Shares (in shares) 90,184 398,000
Outstanding, Weighted average grant date fair value (in dollars per share) $ 18.92 $ 18.21
Granted, Shares (in shares) 95,115 93,184
Granted, Weighted average grant date fair value (in dollars per share) $ 19.05 $ 18.77
Vested, Shares (in shares) (60,052) (374,500)
Vested, Weighted average grant date fair value (in dollars per share) $ 18.92 $ 18.18
Forfeited, Shares (in shares) 0 (26,500)
Forfeited, Weighted average grant date fair value (in dollars per share) $ 0 $ 18.21
Outstanding, Shares (in shares) 125,247 90,184
Outstanding, Weighted average grant date fair value (in dollars per share) $ 19.02 $ 18.92
[1] For awards subject to future performance conditions, amounts assume target performance.