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Note 11 - Equity Incentive Plan (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
9 Months Ended
Jun. 14, 2023
Sep. 30, 2023
Sep. 30, 2022
Jun. 13, 2023
Nov. 04, 2021
Jun. 13, 2017
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)   402,403        
Premium-Priced Employee Stock Options [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Premium Priced Options, Exercise Price as Percentage of Market Price   110.00%        
Share-Based Payment Arrangement, Option [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)   3 years        
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)   10 years        
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount   $ 7.2        
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)   1 year 10 months 24 days        
Restricted Stock Units (RSUs) [Member]            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount   $ 14.4        
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)   1 year 10 months 24 days        
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share)   $ 26.66 $ 25.14      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value   $ 6.8 $ 5.8      
Restricted Stock Units (RSUs) [Member] | Minimum [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)   3 years        
Performance Shares [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share)   $ 0        
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value     $ 0.6      
The 2017 Plan [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares) 435,000          
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) 5,285,000     4,850,000    
Number of Shares Available for Grant Reduced By Each Share Award Issued Other Than Options or SARs (in shares)           2
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)   1,000,000       5,285,000
The 2021 Inducement Plan [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)   5,908        
Common Stock, Capital Shares Reserved for Future Issuance (in shares)         125,000  
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)   3 years        
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)   10 years