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Note 11 - Stockholders' Equity and Stock Incentive Plans - Stock Option Activity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Outstanding, options (in shares)	274,332	645,348	887,728
Outstanding, weighted average option price (in dollars per share)	$ 17.02	$ 14.07	$ 12.48
Canceled, options (in shares)		0	(2,000)
Canceled, weighted average option price (in dollars per share)	$ 0	$ 0	$ 8.34
Exercised, options (in shares)	(165,951)	(371,016)	(240,380)
Exercised, weighted average option price (in dollars per share)	$ 0	$ 11.88	$ 8.23
Granted, weighted average option price (in dollars per share)	$ 0	$ 0
Outstanding, options (in shares)	108,381	274,332	645,348
Outstanding, weighted average option price (in dollars per share)	$ 14.58	$ 17.02	$ 14.07
Outstanding, weighted average remaining term (Year)	2 years 3 months 18 days
Outstanding, aggregate intrinsic value	$ 4,329
Exercisable, options (in shares)	108,381	274,332
Exercisable, weighted average option price (in dollars per share)	$ 14.58	$ 17.02
Exercisable, weighted average remaining term (Year)	2 years 3 months 18 days	4 years
Exercisable, aggregate intrinsic value	$ 4,329	$ 13,318

X

- Definition

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

+ References

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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