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Note 12 - Convertible Senior Notes (Details Textual) - USD ($)	Mar. 15, 2024	Dec. 05, 2023	Dec. 05, 2019	Jun. 30, 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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