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Note 13 - Employee Stock Plans (Details Textual) - USD ($) $ / shares in Units, $ in Thousands |  | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
May 31, 2010 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-Based Payment Arrangement, Expense |  | $ 0 | $ 510 | $ 4,236 | $ 5,563
Restricted Stock Units (RSUs) [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  |  | $ 39.37 |
The 2010 Stock Incentive Plan [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) | 2,130,000 |  |  |  |
The 2010 Stock Incentive Plan [Member] | Equity Awards [Member] |  |  |  |  |
Share-Based Payment Arrangement, Expense |  |  |  | $ 3,249 | 3,724
The 2010 Stock Incentive Plan [Member] | Performance Shares [Member] |  |  |  |  |
Share-Based Payment Arrangement, Expense |  | 361 | 234 | $ 1,183 | 2,945
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  |  | $ 37.36 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | 2,371 |  | $ 2,371 |
The 2010 Stock Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] |  |  |  |  |
Share-Based Payment Arrangement, Expense |  | 361 | $ 276 | 3,053 | $ 2,618
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | $ 2,154 |  | $ 2,154 |
The 2010 Stock Incentive Plan [Member] | Minimum [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Requisite Service Period (Year) | 10 years |  |  |  |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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