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Note 6 - Stock-based Compensation (Details Textual) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Share-Based Payment Arrangement, Expense $ 0.9  
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) 1,455,440  
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 $ 0.9 $ 1.5
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 7.7 $ 7.4
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) 1 year 8 months 12 days  
Restricted Stock Units (RSUs) [Member] | Share-Based Payment Arrangement, Cliff Vesting [Member] | Minimum [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 1 year  
Restricted Stock Units (RSUs) [Member] | Share-Based Payment Arrangement, Cliff Vesting [Member] | Maximum [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 3 years  
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] | Share-Based Payment Arrangement, Tranche One [Member] | Minimum [Member]    
Performance-based Restricted Stock Units, Number of Shares That May Vest, Percentage of Target 0.00%  
Performance-based Restricted Stock Units [Member] | Share-Based Payment Arrangement, Tranche One [Member] | Maximum [Member]    
Performance-based Restricted Stock Units, Number of Shares That May Vest, Percentage of Target 150.00%