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Note 8 - Stock-based Compensation (Details Textual) - USD ($) $ in Millions |  | 3 Months Ended
--- | --- | ---
May 23, 2017 | Mar. 31, 2024 | Mar. 31, 2023
Share-Based Payment Arrangement, Expense |  | $ 1.0 | $ 1.1
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture (in shares) |  | 33,604 | 32,068
Performance Shares [Member] |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | $ 3.0 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  | 2 years 2 months 12 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected toVested (in shares) |  | 181,847 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected to Vest, Performance Obligations Exceeded (in shares) |  | 302,196 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  | 53,041 |
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) |  | 28,971 |
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture (in shares) |  | 24,070 | 52,353
Restricted Stock [Member] |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | $ 1.1 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  | 1 year 8 months 12 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  | 32,764 |
Restricted Stock Units (RSUs) [Member] |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | $ 2.4 |
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, Vested in Period (in shares) |  | 73,013 |
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) |  | 39,409 |
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture (in shares) |  | 33,604 |
The 2017 Equity Compensation Plan [Member] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) | 1,200,000 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  | 373,848 |
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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