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Note 8 - Stock-based Compensation - Stock-based Compensation Expense and Related Income Tax Benefit (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-based compensation expense, gross | $ 20 | $ 22 | $ 14
Income tax benefit at our statutory rate associated with stock-based compensation | (5) | (6) | (4)
Stock-based compensation expense, net | $ 15 | $ 16 | $ 10

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