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Note 13 - Stock-based Compensation - Options Outstanding by Exercise Price Range (Details) - $ / shares
 3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Options outstanding (in shares) 696,386 588,534 445,144
Options outstanding, weighted average exercise price (in dollars per share) $ 72.93    
Options outstanding, weighted average remaining contractual life (Year) 3 years 8 months 12 days    
Exercise Price Range 1 [Member]      
Options outstanding (in shares) 377,405    
Options outstanding, exercise price, lower range (in dollars per share) $ 53.94    
Options outstanding, exercise price, upper range (in dollars per share) 69.19    
Options outstanding, weighted average exercise price (in dollars per share) $ 58.92    
Options outstanding, weighted average remaining contractual life (Year) 3 years 6 months    
Exercise Price Range 2 [Member]      
Options outstanding (in shares) 318,981    
Options outstanding, exercise price, lower range (in dollars per share) $ 71.64    
Options outstanding, exercise price, upper range (in dollars per share) 94.1    
Options outstanding, weighted average exercise price (in dollars per share) $ 89.51    
Options outstanding, weighted average remaining contractual life (Year) 4 years