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Note 8 - Stock-based Compensation (Details Textual) - USD ($) $ in Millions |  | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
May 23, 2017 | Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Share-Based Payment Arrangement, Expense |  | $ 1.2 | $ 1.2 | $ 3.5 | $ 3.2
Performance Shares [Member] |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  | $ 1.5 |  | $ 1.5 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 1 year 9 months 18 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected toVested (in shares) |  | 195,264 |  | 195,264 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected to Vest, Performance Obligations Exceeded (in shares) |  | 221,541 |  | 221,541 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  |  |  | 49,604 |
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) |  |  |  | 27,254 |
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture, Total (in shares) |  |  |  | 22,350 | 34,458
Restricted Stock [Member] |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  | $ 1.3 |  | $ 1.3 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 1 year 1 month 6 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  |  |  | 42,815 |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  | $ 1.5 |  | $ 1.5 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 1 year 6 months |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  |  |  | 69,225 |
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) |  |  |  | 37,842 |
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture, Total (in shares) |  |  |  | 31,383 | 14,711
The 2017 Equity Compensation Plan [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) | 750,000 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  | 200,300 |  | 200,300 |
The 2017 Equity Compensation Plan [Member] | Restricted Stock, Options and Restricted Stock Units [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) | 3 years |  |  |  |
The 2017 Equity Compensation Plan [Member] | Restricted Stock, Options and Restricted Stock Units [Member] | Vesting Each Year [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage | 33.33% |  |  |  |
The 2017 Equity Compensation Plan [Member] | Share-Based Payment Arrangement, Option [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) | 10 years |  |  |  |
The 2017 Equity Compensation Plan [Member] | Performance Shares [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) | 3 years |  |  |  |

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