Note I - Stock-based Compensation - Summary of RSUs Outstanding (Details) - Restricted Stock Units (RSUs) [Member] $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Outstanding, number of RSUs (in shares) | shares	246,993
Outstanding, weighted average grant-date fair value (in dollars per share) | $ / shares	$ 18.35
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | shares	182,811
Granted, weighted average grant-date fair value (in dollars per share) | $ / shares	$ 15.43
Converted, number of RSUs (in shares) | shares	(122,114)
Converted, weighted average grant-date fair value (in dollars per share) | $ / shares	$ 18.32
Forfeited, number of RSUs (in shares) | shares	(93,811)
Forfeited, weighted average grant-date fair value (in dollars per share) | $ / shares	$ 17.97
Outstanding, number of RSUs (in shares) | shares	213,879
Outstanding, weighted average grant-date fair value (in dollars per share) | $ / shares	$ 16.04
Outstanding, weighted average remaining contractual term (Year)	11 months 23 days
Outstanding, aggregate intrinsic value | $	$ 2,832
Vested and convertible, number of RSUs (in shares) | shares	6,641
Vested and convertible, weighted average grant-date fair value (in dollars per share) | $ / shares	$ 16.57
Vested and convertible, aggregate intrinsic value | $	$ 88