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Note 5 - Stockholders' Equity (Details Textual) $ / shares in Units, $ in Millions |  | 3 Months Ended | 6 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Jul. 15, 2021 | Sep. 30, 2023 USD ($) shares | Sep. 30, 2023 USD ($) shares | Sep. 30, 2023 USD ($) $ / shares shares | Jan. 31, 2022 USD ($) | Apr. 16, 2019 shares
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount | $ |  | $ 1.8 | $ 1.8 | $ 1.8 |  |
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares) |  |  |  | 17,080 |  |
Stock Repurchase Program, Authorized Amount | $ |  |  |  |  | $ 100.0 |
Treasury Stock, Shares, Acquired (in shares) |  |  |  | 418,901 |  |
Treasury Stock, Value, Acquired, Cost Method | $ |  |  |  | $ 22.1 |  |
Shares Acquired, Average Cost Per Share (in dollars per share) | $ / shares |  |  |  | $ 54.4 |  |
Stock Repurchase Program, Remaining Number of Shares Authorized to be Repurchased (in shares) |  | 43,500,000 | 43,500,000 | 43,500,000 |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) |  |  | 10 years |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 1 year 2 months 12 days |  |
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  | 2 years |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche Two [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  | 4 years |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Share Based Payment Arrangement Tranche One First Anniversary [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  | 1 year |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Share Based Payment Arrangement Tranche Two First Anniversary [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, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 2 years 3 months 18 days |  |
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | $ |  | $ 16.8 | $ 16.8 | $ 16.8 |  |
Restricted Stock Units (RSUs) [Member] | Minimum [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  | 1 year |  |  |  |
Restricted Stock Units (RSUs) [Member] | Maximum [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  | 5 years |  |  |  |
Performance Shares [Member] |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 2 years 8 months 12 days |  |
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | $ |  | $ 10.2 | $ 10.2 | $ 10.2 |  |
Number of Stock Price Milestones Achieved |  | 0 | 0 | 0 |  |
Predetermined Performance Achievement, Percentage | 100.00% |  |  |  |  |
Performance Shares [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |
Number of Days, Achievement of Milestone Stock Price |  | 30 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Service Period (Year) |  | 5 years |  |  |  |
Performance Shares [Member] | Share-Based Payment Arrangement, Tranche Two [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Service Period (Year) |  | 3 years |  |  |  |
Employee Stock [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  | 240,000
Share-based Compensation Arrangement by Share-based Payment Award, Shares Available for Issuance, Authorized Annual Increase, Maximum (in shares) |  | 240,000 | 240,000 | 240,000 |  |
Equity Incentive Plan 2019 [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) |  | 3,134,739 | 3,134,739 | 3,134,739 |  | 2,400,000
Share Based Compensation Arrangement By Share Based Payment Award Percentage, Number of Additional Shares Available for Grant |  |  |  |  |  | 3.00%

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