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Note 7 - Stock-based Compensation (Details Textual) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) 1,727,187   1,727,187  
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 $ 1.4 $ 1.8 $ 3.0 $ 3.4
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 5.9 $ 12.8 $ 5.9 $ 12.8
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)     1 year 3 months 18 days  
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%   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%   150.00%