Note 11 - Stock-based Compensation - Non-cash Share-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share-based compensation	$ 1,978	$ 2,083	$ 3,894	$ 4,328
Share-Based Payment Arrangement, Option [Member]
Share-based compensation	591	924	1,256	1,901
Restricted Stock Units (RSUs) [Member]
Share-based compensation	977	822	1,836	1,707
Performance Restricted Stock Unit [Member]
Share-based compensation	$ 410	$ 337	$ 802	$ 720