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Note 12 - Convertible Senior Notes - Schedule of Carrying Value of Convertible Senior Notes (Details) - The 5% Convertible Senior Notes Due 2024 [Member] - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Mar. 05, 2019
Principal $ 80,500 $ 80,500 $ 80,500
Unamortized debt issuance costs (376) (994)  
Net carrying amount $ 80,124 $ 79,506