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Note 12 - Convertible Senior Notes (Details Textual) - USD ($) | Mar. 15, 2024 | Dec. 05, 2023 | Dec. 05, 2019 | Mar. 31, 2024 | Dec. 31, 2023 | Mar. 05, 2019
--- | --- | --- | --- | --- | --- | ---
Common Stock, Par or Stated Value Per Share (in dollars per share) |  | $ 0.001 |  | $ 0.001 | $ 0.001 |
Conversion Of 2024 Notes To Common Stock [Member] |  |  |  |  |  |
Debt Conversion, Converted Instrument, Shares Issued (in shares) |  | 466,368 |  |  |  |
The 5% Convertible Senior Notes Due 2024 [Member] |  |  |  |  |  |
Debt Instrument, Face Amount |  | $ 80,200,000 |  |  |  | $ 80,500,000
Debt Instrument, Interest Rate, Stated Percentage |  |  |  |  |  | 5.00%
Proceeds from Convertible Debt |  |  | $ 81,100,000 |  |  |
Repayments of Convertible Debt | $ 290,000 |  |  |  |  |
The 5.250% Convertible Senior Notes Due 2026 [Member] |  |  |  |  |  |
Debt Instrument, Face Amount |  | $ 80,200,000 |  | $ 80,214,000 | $ 80,214,000 |
Debt Instrument, Interest Rate, Stated Percentage |  | 5.25% |  |  |  |
Debt Conversion, Converted Instrument, Shares Issued (in shares) |  | 65.6276 |  |  |  |
Debt Conversion, Converted Instrument, Amount |  | $ 1,000 |  |  |  |
Debt Instrument, Convertible, Conversion Price (in dollars per share) |  | $ 15.24 |  |  |  |
Debt Instrument, Convertible, Conversion Price Premium, Percentage |  | 15.00% |  |  |  |
Share Price (in dollars per share) |  | $ 13.25 |  |  |  |
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, Convertible, Maximum Aggregate Consideration |  | $ 150,000,000 |  |  |  |
Debt Instrument, Redemption Price, Percentage of Principal Amount Redeemed |  | 100.00% |  |  |  |
Debt Issuance Costs, Gross |  | $ 4,300,000 |  |  |  |

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