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Note 6 - Share-based Compensation - Summary of Stock Option Activity (Details) - Employee and Nonemployee Stock Option [Member]
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
USD ($)
$ / shares
shares
Outstanding, options (in shares) | shares 78,488
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 39.98
Granted, options (in shares) | shares 0
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 0
Exercised, options (in shares) | shares (4,480)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 35.76
Outstanding, options (in shares) | shares 74,008
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 58.44
Outstanding, weighted average remaining life (Year) 5 years 4 months 2 days
Outstanding, intrinsic value | $ $ 14,340
Exercisable, options (in shares) | shares 65,823
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 48.22
Exercisable, weighted average remaining life (Year) 5 years 2 months 4 days
Exercisable, intrinsic value | $ $ 13,427
Vested and expected to vest, options (in shares) | shares 74,008
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares $ 58.44
Vested and expected to vest, weighted average remaining life (Year) 5 years 4 months 2 days
Vested and expected to vest, intrinsic value | $ $ 14,340