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Note 12 - Stock-based Compensation (Tables) | 9 Months Ended
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Sep. 30, 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 |  |  | (516,446 | ) |  | $ | 5.98 |  |  |  |  |  |  |  |  |
Expired/Forfeited |  |  | (1,999 | ) |  | $ | 15.30 |  |  |  |  |  |  |  |  |
Outstanding at September 30, 2023 |  |  | 283,718 |  |  | $ | 23.57 |  |  |  | 2.0 |  |  | $ | 2,869,619 |
Exercisable at September 30, 2023 |  |  | 200,638 |  |  | $ | 22.08 |  |  |  | 1.9 |  |  | $ | 2,288,407 |

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