Note 11 - Stock-based Compensation - Non-cash Share-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share-based compensation	$ 2,019	$ 2,033	$ 5,913	$ 6,361
Share-Based Payment Arrangement, Option [Member]
Share-based compensation	552	913	1,808	2,812
Restricted Stock Units (RSUs) [Member]
Share-based compensation	1,037	772	2,873	2,480
Performance Restricted Stock Unit [Member]
Share-based compensation	$ 430	$ 348	$ 1,232	$ 1,069