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Note 4 - Shareholders' Equity and Preferred Stock (Details Textual) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Stock Repurchased and Retired During Period, Shares (in shares) 105,447   355,036   177,801 1,360,248
Stock Repurchased and Retired During Period, Value $ 2,988,000   $ 12,861,000 $ 65,214,000 $ 4,935,000 $ 78,075,000
Series B Preferred Stock [Member]            
Stock Repurchased and Retired During Period, Shares (in shares) 0   0   1,806 0
Stock Repurchased and Retired During Period, Value $ 0 $ 29,000 $ 0     $ 0
Series B Preferred Stock [Member] | Public Offering [Member]            
Stock Issued During Period, Shares, New Issues (in shares) 2,100   0   53,427 0
Proceeds from Issuance of Preferred Stock and Preference Stock $ 0.0   $ 1,100,000   $ 0.0 $ 0.0