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Note 9 - Stock-based Compensation and Incentive Plans - Allocated Share based Compensation Expense Recognized Period Costs (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Vested In Period Grant Date Fair Value $ 4,460 $ 6,395 $ 19,193
Restricted Stock Units (RSUs) [Member]      
Restricted stock unit compensation expense $ 5,638 $ 5,117 $ 19,603