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Note 7 - Stock-based Compensation (Details Textual) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) 1,659,595  
Restricted Stock Units (RSUs) [Member]    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) 3 years  
Share-Based Payment Arrangement, Expense $ 1.5 $ 1.6
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 7.4 $ 10.0
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) 1 year 6 months  
Performance-based Restricted Stock Units [Member]    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) 3 years  
Performance-based Restricted Stock Units [Member] | Minimum [Member] | Share-Based Payment Arrangement, Tranche One [Member]    
Performance-based Restricted Stock Units, Number of Shares That May Vest, Percentage of Target 0.00%  
Performance-based Restricted Stock Units [Member] | Maximum [Member] | Share-Based Payment Arrangement, Tranche One [Member]    
Performance-based Restricted Stock Units, Number of Shares That May Vest, Percentage of Target 150.00%