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Note 12 - Convertible Senior Notes (Details Textual) - USD ($) | Mar. 05, 2019 | Sep. 30, 2023 | Dec. 31, 2022
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Truist Bank [Member] | CapEx Loan and Term Loan [Member] |  |  |
Repayments of Long-term Debt, Total | $ 37,800,000 |  |
The 5% Convertible Senior Notes Due 2024 [Member] |  |  |
Debt Instrument, Face Amount | $ 80,500,000 | $ 80,500,000 | $ 80,500,000
Debt Instrument, Interest Rate, Stated Percentage | 5.00% |  |
Proceeds from Convertible Debt | $ 76,400,000 |  |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | 56.9801 |  |
Debt Conversion, Converted Instrument, Amount | $ 1,000 |  |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | $ 17.55 |  |
Debt Instrument, Convertible, Conversion Price Premium, Percentage | 30.00% |  |
Share Price (in dollars per share) | $ 13.5 |  |
Debt Instrument, Convertible, Threshold Percentage of Stock Price Trigger | 130.00% |  |
Debt Instrument, Convertible, Threshold Trading Days | 20 |  |
Debt Instrument, Convertible, Threshold Consecutive Trading Days | 30 |  |
Debt Instrument, Redemption Price, Percentage of Principal Amount Redeemed | 100.00% |  |
Debt Issuance Costs, Gross | $ 4,100,000 |  |

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