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Note 14 - Convertible Notes (Details Textual) |  |  | 12 Months Ended |
--- | --- | --- | --- | ---
Dec. 06, 2022 $ / shares | May 19, 2020 USD ($) $ / shares | Dec. 31, 2022 USD ($) | Dec. 07, 2021 $ / shares
Dividends Payable, Amount Per Share (in dollars per share) | $ / shares | $ 0.15 | $ 0.05 |  | $ 0.15
Convertible Senior Subordinated Notes [Member] | Convertible Subordinated Debt [Member] |  |  |  |
Debt Instrument, Face Amount |  | $ 230,000 |  |
Debt Instrument, Interest Rate, Stated Percentage |  | 4.00% |  |
Debt Instrument, Convertible, Conversion Ratio | 17.2979 | 17.2507 |  |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | $ / shares | $ 57.81 | $ 57.97 |  |
Debt Instrument, Redemption Price, Percentage |  | 100.00% |  |
Debt Instrument, Convertible, Threshold Percentage of Stock Price Trigger |  | 130.00% |  |
Debt Issuance Costs, Net, Total |  | $ 6,795,000 |  |
Debt Instrument, Convertible, Remaining Discount Amortization Period (Year) |  | 5 years |  |
Amortization of Debt Issuance Costs |  |  | $ 1,320,000 |
Debt Instrument, Interest Rate, Effective Percentage |  |  | 4.70% |

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