Note 11 - Stockholders' Equity and Stock Incentive Plans - RSU Activity (Details) - Restricted Stock Units (RSUs) [Member] - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Outstanding, units (in shares)	918,248	1,189,830	1,227,753
Granted, units (in shares)	304,361	259,030	456,492
Granted, weighted average grant date fair value, units (in dollars per share)	$ 65.36	$ 67.73	$ 52.59
Canceled, units (in shares)	(14,729)	(29,273)	(27,782)
Awarded, units (in shares)	(311,376)	(501,339)	(466,633)
Outstanding, units (in shares)	896,504	918,248	1,189,830

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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- Definition

The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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- Definition

The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(ii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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