Note 13 - Stock-based Compensation - Non-cash Share-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Share-based compensation	$ 8,416	$ 9,429
Share-Based Payment Arrangement, Option [Member]
Share-based compensation	3,654	4,535
Restricted Stock Units (RSUs) [Member]
Share-based compensation	3,319	3,954
Performance Restricted Stock Unit [Member]
Share-based compensation	$ 1,443	$ 940