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Note 14 - Shareholders' Equity (Details Textual) - $ / shares shares in Millions | Mar. 31, 2023 | Dec. 31, 2022 | Feb. 26, 2021 | Feb. 16, 2021
--- | --- | --- | --- | ---
Stock Authorized (in shares) |  | 560.0 |  |
Common Stock, Shares Authorized (in shares) |  | 500.0 |  |
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.01 | $ 0.01 | $ 0.01 |
Preferred Stock, Shares Authorized (in shares) |  | 60.0 |  |
Preferred Stock, No Par Value (in dollars per share) |  | $ 0 |  |
Common Stock, Shares, Outstanding (in shares) | 79.3 | 79.1 |  |
Treasury Stock, Common, Shares (in shares) | 0.9 | 0.9 |  |
Series B Preferred Stock [Member] |  |  |  |
Preferred Stock, No Par Value (in dollars per share) |  |  |  | $ 0
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | 1.0 | 1.0 |  |
Series C Preferred Stock [Member] |  |  |  |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | 1.1 | 1.1 |  |

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