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Note 13 - Share-based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended | 247 Months Ended |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2023 | Jun. 09, 2022 | Jun. 08, 2022
Proceeds from Stock Options Exercised | $ 680 | $ 390 | $ 162 |  |  |
Shares Paid for Tax Withholding for Share Based Compensation Market Price (in dollars per share) | $ 117.95 |  |  |  |  |
Employee and Nonemployee Stock Option [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross | 12,153 |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number (in shares) | 78,488 | 92,075 |  | 78,488 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value | $ 3,000 | $ 1,200 | 200 |  |  |
Proceeds from Stock Options Exercised | $ 800 | $ 400 | $ 200 |  |  |
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation | 861 | 1,876 | 0 |  |  |
Shares Paid For Tax Withholding For Share Based Compensation, Average Market Price | $ 127.05 | $ 95.82 |  |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation | 20,457 | 19,425 | 14,190 |  |  |
Shares Paid for Tax Withholding for Share Based Compensation Market Price (in dollars per share) |  | $ 67.05 | $ 52.55 |  |  |
The 2003 Incentive Plan [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Shares Issued in Period |  |  |  | 1,355,430 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross |  |  |  | 192,935 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number (in shares) | 0 |  |  | 0 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant | 707,011 |  |  | 707,011 |  |
The 2003 Incentive Plan [Member] | Restricted Stock [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Shares Issued in Period |  |  |  | 0 |  |
Common Stock, Capital Shares Reserved for Future Issuance | 93,905 |  |  | 93,905 |  |
Nonemployee Director Stock Incentive Plan [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross | 405,022 |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number (in shares) | 70,553 |  |  | 70,553 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized |  |  |  |  | 1,075,000 | 975,000
Share-Based Payment Arrangement, Expense, Tax Benefit | $ 2,200 | $ 1,300 | $ 800 |  |  |
Nonemployee Director Stock Incentive Plan [Member] | Restricted Stock [Member] |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance | 1,788 |  |  | 1,788 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant | 124,025 |  |  | 124,025 |  |

X
- Definition For net-share settlement of share-based awards when the employer settles employees' income tax withholding obligations, this element represents the average price per share of shares the employees use to repay the employer. + References No definition available. + Details
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- Definition For net-share settlement of share-based awards when the employer settles employees' income tax withholding obligations, this element represents the market price per share of shares used by the employees to repay the employer. + References No definition available. + Details
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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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- Definition Amount of tax benefit for recognition of expense of award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Amount of cash inflow from exercise of option under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 45 -Paragraph 14 -Subparagraph (a) -SubTopic 10 -Topic 230 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482740/230-10-45-14 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2A -Subparagraph (a) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2A + Details
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- Definition Number of shares authorized for issuance under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of shares issued under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of shares used to settle grantee's tax withholding obligation for award under share-based payment arrangement. + References No definition available. + Details
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