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Note 8 - Stock-based Compensation (Details Textual) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
May 30, 2023
May 23, 2017
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement, Expense     $ 1.3 $ 1.2 $ 3.6 $ 3.5
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture (in shares)     3,938   36,006 31,383
Performance Shares [Member]            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount     $ 1.8   $ 1.8  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)         1 year 10 months 24 days  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected toVested (in shares)     164,231   164,231  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected to Vest, Performance Obligations Exceeded (in shares)     233,087   233,087  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)         116,192  
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares)         63,839  
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture (in shares)         52,353 22,350
Restricted Stock [Member]            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount     $ 1.1   $ 1.1  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)         1 year 2 months 12 days  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)         47,067  
Restricted Stock Units (RSUs) [Member]            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount     $ 2.3   $ 2.3  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)         1 year 6 months  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)         78,544  
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares)         42,538  
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture (in shares)         36,006  
The 2017 Equity Compensation Plan [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares) 450,000          
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares)     1,200,000   1,200,000  
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)     469,501   469,501  
The 2017 Equity Compensation Plan [Member] | Restricted Stock, Options and Restricted Stock Units [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)   3 years        
The 2017 Equity Compensation Plan [Member] | Restricted Stock, Options and Restricted Stock Units [Member] | Vesting Each Year [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage   33.33%        
The 2017 Equity Compensation Plan [Member] | Share-Based Payment Arrangement, Option [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)   10 years        
The 2017 Equity Compensation Plan [Member] | Performance Shares [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)   3 years