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Note 15 - Share-based Compensation - Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Outstanding, weighted average exercise price (in dollars per share) $ 2.16  
Share-Based Payment Arrangement, Option [Member]    
Outstanding (in shares) 624,531 844,455
Outstanding, weighted average exercise price (in dollars per share) $ 2.13 $ 2.00
Exercised (in shares) (161,646) (183,064)
Exercised, weighted average exercise price (in dollars per share) $ 2.00 $ 1.61
Forfeited (in shares) 0 (1,146)
Forfeited, weighted average exercise price (in dollars per share) $ 0 $ 5.69
Expired (in shares) (6,592) (35,714)
Expired, weighted average exercise price (in dollars per share) $ 3.22 $ 1.73
Outstanding at end of year (in shares) 456,293 624,531
Outstanding, weighted average exercise price (in dollars per share) $ 2.17 $ 2.13
Stock options exercisable at year end (in shares) 456,293 624,531
Options exercisable, weighted average exercise price (in dollars per share) $ 2.17 $ 2.13
Performance Shares [Member]    
Outstanding (in shares) 0 686,001
Outstanding, weighted average exercise price (in dollars per share) $ 1.64 $ 1.64
Exercised (in shares)   (686,001)
Exercised, weighted average exercise price (in dollars per share)   $ 1.64
Outstanding at end of year (in shares)   0
Outstanding, weighted average exercise price (in dollars per share)   $ 1.64
Stock options exercisable at year end (in shares)   0
Options exercisable, weighted average exercise price (in dollars per share)   $ 0