Note 9 - Stock-based Compensation - Restricted Stock Units (Details) - Restricted Stock Units (RSUs) [Member] shares in Thousands	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Balance (in shares) | shares	11
Weighted- Average Grant Date Fair Value, Outstanding, Beginning Balance (in dollars per share) | $ / shares	$ 49.50
Vested (in shares) | shares	(3)
Vested Weighted- Average Grant Date Fair Value, Outstanding (in dollars per share) | $ / shares	$ 51.00
Cancelled (in shares) | shares	(1)
Cancelled, Weighted- Average Grant Date Fair Value, Outstanding (in dollars per share) | $ / shares	$ 48.61
Balance (in shares) | shares	7
Weighted- Average Grant Date Fair Value, Outstanding (in dollars per share) | $ / shares	$ 49.31