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Note 12 - Stock-based Compensation (Tables) | 3 Months Ended
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Mar. 31, 2023
Notes Tables |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Number of Shares |  |  | Weighted Average Exercise Price |  |  | Weighted Average of Remaining Contractual Life (in years) |  |  | Aggregate Intrinsic Value |
Outstanding at December 31, 2022 |  |  | 802,163 |  |  | $ | 12.23 |  |  |  |  |  |  |  |  |
Issued |  |  | — |  |  | $ | — |  |  |  |  |  |  |  |  |
Exercised |  |  | (1,258 | ) |  | $ | 15.30 |  |  |  |  |  |  |  |  |
Expired/Forfeited |  |  | (999 | ) |  | $ | 15.30 |  |  |  |  |  |  |  |  |
Outstanding at March 31, 2023 |  |  | 799,906 |  |  | $ | 12.22 |  |  |  | 1.3 |  |  | $ | 13,299,303 |
Exercisable at March 31, 2023 |  |  | 688,544 |  |  | $ | 9.25 |  |  |  | 1.0 |  |  | $ | 12,840,335 |

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