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Note 4 - Shareholders' Equity and Preferred Stock (Details Textual) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Stock Repurchased and Retired During Period, Shares (in shares) 285,906 313,893     463,707 1,674,141
Stock Repurchased and Retired During Period, Value $ 9,399,000 $ 10,863,000 $ 12,861,000 $ 65,214,000 $ 14,334,000 $ 88,938,000
Series B Preferred Stock [Member]            
Stock Repurchased and Retired During Period, Shares (in shares) 0 3,500     1,806 3,500
Stock Repurchased and Retired During Period, Value $ 0 $ 70,000     $ 29,000 $ 70,000
Series B Preferred Stock [Member] | Public Offering [Member]            
Stock Issued During Period, Shares, New Issues (in shares) 300 8,229     53,727 8,229
Proceeds from Issuance of Preferred Stock and Preference Stock $ 0 $ 200,000     $ 1,100,000 $ 200,000