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Note 12 - Stock-based Compensation - Summary of Outstanding Options (Details)
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Outstanding (in shares) | shares 802,163
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 12.23
Issued (in shares) | shares 0
Issued, weighted average exercise price (in dollars per share) | $ / shares $ 0
Exercised (in shares) | shares (1,258)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 15.30
Expired/Forfeited (in shares) | shares (999)
Expired/Forfeited, weighted average exercise price (in dollars per share) | $ / shares $ 15.30
Outstanding (in shares) | shares 799,906
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 12.22
Outstanding, weighted average remaining contractual life (Year) 1 year 3 months 18 days
Outstanding, aggregate intrinsic value | $ $ 13,299,303
Exercisable (in shares) | shares 688,544
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 9.25
Exercisable, weighted average remaining contractual life (Year) 1 year
Exercisable, aggregate intrinsic value | $ $ 12,840,335