Note 13 - Equity Incentive Plan (Details Textual) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Nov. 04, 2021	Dec. 31, 2019	Jun. 13, 2017
Share-Based Payment Arrangement, Expense, Tax Benefit	$ 2,600	$ 1,100
Effective Income Tax Rate Reconciliation, Share-based Compensation, Windfall Tax Benefit, Amount	(100)	$ (500)	$ 100
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value	$ 20		$ 300
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)	404,903
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount	$ 5,900
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)	1 year 8 months 12 days
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 Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)	323,993
Share-Based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)	10 years
Restricted Stock Units (RSUs) [Member]
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount	$ 11,900
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)	1 year 8 months 12 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	$ 35.88
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value	$ 6,900	$ 6,000	$ 3,700
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)		$ 32.53
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value		$ 600
Performance Shares [Member] | Granted in 2019 [Member]
Share-based Compensation, Performance Shares Measured by Business Targets					30.00%
Share-based Compensation, Performance Shares Measured by Financial Targets		55.00%
Share-based Compensation, Performance Shares Measured by Financial Targets, Not Achieved		15.00%
Performance Shares [Member] | Granted in 2020 [Member]
Share-based Compensation, Performance Shares Measured by Financial Targets, Not Achieved		60.00%
Share-based Compensation, Performance Shares Measured by Business Targets, Not Achieved		20.00%	20.00%
Minimum [Member] | Share-Based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	3 years
Minimum [Member] | Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	3 years
Maximum [Member] | Share-Based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	4 years
Maximum [Member] | Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	4 years
The 2017 Plan [Member]
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 Authorized (in shares)						4,600,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)	1,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)	10 years
The 2017 Plan [Member] | Minimum [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	1 year
The 2017 Plan [Member] | Maximum [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	4 years
The 2021 Inducement Plan [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)	0.1
Common Stock, Capital Shares Reserved for Future Issuance (in shares)				125,000
The 2021 Inducement Plan [Member] | December 2023 Amendment [Member]
Common Stock, Capital Shares Reserved for Future Issuance (in shares)	125,000