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Note 10 - Stock-based Compensation - Stock Option Activity (Details)
 3 Months Ended
Mar. 31, 2022
$ / shares
shares
Options outstanding (in shares) | shares 233,384
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares $ 97.78
Granted (in shares) | shares 52,992
Granted, weighted-average exercise price (in dollars per share) | $ / shares $ 59.40
Exercised (in shares) | shares (201)
Exercised, weighted-average exercise price (in dollars per share) | $ / shares $ 30.58
Forfeited (in shares) | shares (21,287)
Forfeited, weighted-average exercise price (in dollars per share) | $ / shares $ 86.55
Options outstanding (in shares) | shares 264,888
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares $ 91.06
Options exercisable (in shares) | shares 126,595
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares $ 87.42