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Note 9 - Stock-based Compensation (Details Textual) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
May 23, 2017
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number (in shares)   0   0   0
Share-Based Payment Arrangement, Expense   $ 1.1 $ 1.3 $ 3.2 $ 3.6  
Performance Shares [Member]            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount   $ 1.8   $ 1.8    
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 52,353  
Restricted Stock [Member]            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount   $ 1.0   $ 1.0    
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)       1 year 2 months 12 days    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)       76,770    
Restricted Stock Units (RSUs) [Member]            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount   $ 1.6   $ 1.6    
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)       80,889    
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares)       43,347    
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture (in shares)   3,938 3,938 37,542 36,006  
The 2017 Equity Compensation Plan [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) 1,200,000 336,584   336,584    
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