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Note 8 - Stock-based Compensation (Details Textual) - USD ($) $ in Millions |  | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
May 23, 2017 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-Based Payment Arrangement, Expense |  | $ 1.1 | $ 1.2 | $ 2.1 | $ 2.4
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 |  | $ 2.7 |  | $ 2.7 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 2 years |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected toVested (in shares) |  | 181,847 |  | 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 |  | 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 | 48,140
Restricted Stock [Member] |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | $ 1.4 |  | $ 1.4 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 1 year 3 months 18 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  |  |  | 76,643 |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | $ 2.0 |  | $ 2.0 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 1 year 7 months 6 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) |  | 338,684 |  | 338,684 |
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] | Performance Shares [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) | 3 years |  |  |  |

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