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Note 10 - Stock-based Compensation - Stock Option Activity (Details)
 6 Months Ended
Jun. 30, 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 (3,114)
Exercised, weighted-average exercise price (in dollars per share) | $ / shares $ 30.58
Forfeited (in shares) | shares (34,075)
Forfeited, weighted-average exercise price (in dollars per share) | $ / shares $ 90.61
Expired (in shares) | shares (28,411)
Expired (in dollars per share) | $ / shares $ 84.92
Options outstanding (in shares) | shares 220,776
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares $ 92.28
Options exercisable (in shares) | shares 113,652
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares $ 92.57