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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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