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Note 15 - Share-based Compensation - Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Outstanding, number of shares (in shares) | shares 263  
Outstanding, weighted average exercise price (in dollars per share) $ 10.41  
Outstanding, weighted average fair value (in dollars per share) $ 5.45  
Outstanding, weighted average remaining contractual life (Year) 3 months 29 days 8 months 15 days
Outstanding, aggregate intrinsic value | $ $ 0 $ 0
Exercised, number of shares (in shares) | shares (32)  
Exercised, weighted average exercise price (in dollars per share) $ 10.03  
Exercised, weighted average fair value (in dollars per share) $ 5.14  
Exercised, aggregate intrinsic value | $ $ 152  
Forfeited, number of shares (in shares) | shares (180)  
Forfeited, weighted average exercise price (in dollars per share) $ 9.5  
Forfeited, weighted average fair value (in dollars per share) $ 5.03  
Forfeited, aggregate intrinsic value | $ $ 266  
Outstanding, number of shares (in shares) | shares 51 263
Outstanding, weighted average exercise price (in dollars per share) $ 13.84 $ 10.41
Outstanding, weighted average fair value (in dollars per share) $ 7.12 $ 5.45
Exercisable, number of shares (in shares) | shares 51  
Exercisable, weighted average exercise price (in dollars per share) $ 13.84  
Exercisable, weighted average fair value (in dollars per share) $ 7.12  
Exercisable, weighted average remaining contractual life (Year) 3 months 29 days  
Exercisable, aggregate intrinsic value | $ $ 0  
Vested and expected to vest, number of shares (in shares) | shares 51  
Vested and expected to vest, weighted average exercise price (in dollars per share) $ 13.84  
Vested and expected to vest, weighted average fair value (in dollars per share) $ 7.12  
Vested and expected to vest, weighted average remaining contractual life (Year) 3 months 29 days  
Vested and expected to vest, aggregate intrinsic value | $ $ 0