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Note 14 - Stock-based Compensation - Summary of Outstanding Options (Details)
 12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Outstanding (in shares) | shares 2,017,969
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 6.74
Issued (in shares) | shares 0
Issued, weighted average exercise price (in dollars per share) | $ / shares $ 0
Exercised (in shares) | shares (1,211,141)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 3.08
Expired/Forfeited (in shares) | shares (4,665)
Expired/Forfeited, weighted average exercise price (in dollars per share) | $ / shares $ 15.3
Outstanding (in shares) | shares 802,163
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 12.23
Outstanding, weighted average remaining contractual life (Year) 1 year 7 months 6 days
Outstanding, aggregate intrinsic value | $ $ 12,704,473
Exercisable (in shares) | shares 673,137
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 8.71
Exercisable, weighted average remaining contractual life (Year) 1 year 2 months 12 days
Exercisable, aggregate intrinsic value | $ $ 12,270,696