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Note 6 - Stock-based Compensation (Details Textual) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Share-Based Payment Arrangement, Expense     $ 4.1  
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) 1,242,046   1,242,046  
Restricted Stock Units (RSUs) [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)     3 years  
Share-Based Payment Arrangement, Expense $ 1.9 $ 2.0 $ 4.1 $ 5.0
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 11.5 $ 11.9 $ 11.5 $ 11.9
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)     2 years 2 months 12 days  
Restricted Stock Units (RSUs) [Member] | Share-Based Payment Arrangement, Cliff Vesting [Member] | Minimum [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)     1 year  
Restricted Stock Units (RSUs) [Member] | Share-Based Payment Arrangement, Cliff Vesting [Member] | Maximum [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)     3 years  
Performance-based Restricted Stock Units [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)     3 years  
Performance-based Restricted Stock Units [Member] | Share-Based Payment Arrangement, Tranche One [Member] | Minimum [Member]        
Performance-based Restricted Stock Units, Number of Shares That May Vest, Percentage of Target 0.00%   0.00%  
Performance-based Restricted Stock Units [Member] | Share-Based Payment Arrangement, Tranche One [Member] | Maximum [Member]        
Performance-based Restricted Stock Units, Number of Shares That May Vest, Percentage of Target 150.00%   150.00%