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Note 9 - Redeemable, Convertible Preferred Stock (Details Textual) |  |  |  |  |  | 1 Months Ended | 12 Months Ended |
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Feb. 26, 2024 | Feb. 26, 2023 | Mar. 30, 2021 USD ($) shares | Feb. 26, 2021 USD ($) $ / shares shares | Nov. 15, 2016 USD ($) $ / shares shares | Jul. 31, 2020 USD ($) | Dec. 31, 2023 USD ($) $ / shares | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) $ / shares shares | Feb. 28, 2021 shares
Preferred Stock, No Par Value (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 0 |  |  |
Embedded Derivative, Fair Value of Embedded Derivative Liability |  |  |  |  |  |  | $ 2,000,000 | $ 4,000,000 |  |
Series A Preferred Stock [Member] |  |  |  |  |  |  |  |  |  |
Preferred Stock, Dividend Rate, Percentage |  |  |  |  | 5.50% |  |  |  |  |
Proceeds from Issuance of Preferred Stock and Preference Stock |  |  |  |  | $ 198,000,000 |  |  |  |  |
Preferred Stock, Redemption Price Per Share (in dollars per share) | $ / shares |  |  |  |  | $ 100 |  |  |  |  |
Stock Repurchased During Period, Shares (in shares) | shares |  |  |  | 1,000,000 |  |  |  |  |  |
Payments for Repurchase of Preferred Stock and Preference Stock |  |  |  |  |  |  | $ (0) | (0) | $ 100,000,000 |
Common Stock Price Equal Or Exceeds Preferred Stock Conversion Price Percentage |  |  |  |  | 125.00% |  |  |  |  |
Net Proceeds Received Allocated To Derivative Liability |  |  |  |  | $ 43,000,000 |  |  |  |  |
Temporary Equity Issuance Of Redeemable Convertible Preferred Stock Net Of Offering Costs And Derivative Liability |  |  |  |  | 155,000,000 |  |  |  |  |
Gross Proceeds From Issuance Of Preferred Stock And Preference Stock |  |  |  |  | 200,000,000 |  |  |  |  |
Derivative Liability, Subject to Master Netting Arrangement, before Offset |  |  |  |  | 43,000,000 |  |  |  |  |
Transaction Costs |  |  |  |  | $ 2,000,000 |  |  |  |  |
Temporary Equity Preferred Stock Prior To Extinguishment Carrying Value |  |  |  | $ 203,000,000 |  |  |  |  |  |
Temporary Equity Deemed Preferred Stock Dividends |  |  |  | $ 8,000,000 |  |  |  |  |  |
Dividends, Total |  |  |  |  |  | $ 11,000,000 |  |  |  |
Series A Preferred Stock [Member] | Purchase Agreement [Member] |  |  |  |  |  |  |  |  |  |
Temporary Equity, Shares Issued (in shares) | shares |  |  |  |  | 2,000,000 |  |  |  |  |
Preferred Stock, Dividend Rate, Percentage |  |  |  |  | 5.50% |  |  |  |  |
Temporary Equity, Liquidation Preference |  |  |  |  | $ 200,000,000 |  |  |  |  |
Temporary Equity, Liquidation Preference Per Share (in dollars per share) | $ / shares |  |  |  |  | $ 100 |  |  |  |  |
Convertible Preferred Stock, Shares Issued upon Conversion (in shares) | shares |  |  |  |  | 5.7471 |  |  |  |  |
Preferred Stock Initial Conversion Price Per Share Of Common Stock (in dollars per share) | $ / shares |  |  |  |  | $ 17.4 |  |  |  |  |
Series A Preferred Stock [Member] | Repurchase And Exchange Agreement [Member] |  |  |  |  |  |  |  |  |  |
Stock Repurchased During Period, Shares (in shares) | shares |  |  |  | 1,000,000 |  |  |  |  |  |
Payments for Repurchase of Preferred Stock and Preference Stock |  |  |  | $ 100,641,667 |  |  |  |  |  |
Series B Preferred Stock [Member] |  |  |  |  |  |  |  |  |  |
Preferred Stock, Dividend Rate, Percentage |  |  |  | 4.00% |  |  |  |  |  |
Temporary Equity, Liquidation Preference Per Share (in dollars per share) | $ / shares |  |  |  | $ 100 |  |  |  |  |  |
Preferred Stock, Redemption Price Per Share (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  | $ 100 |
Preferred Stock, No Par Value (in dollars per share) | $ / shares |  |  |  | $ 0 |  |  |  |  |  |
Convertible Preferred Stock, Shares Issued upon Conversion (in shares) | shares |  |  |  |  |  |  |  |  |  | 1,000,000
Temporary Equity Issuance Of Redeemable Convertible Preferred Stock Net Of Offering Costs And Derivative Liability |  |  |  | $ 93,000,000 |  |  |  |  |  |
Derivative Liability, Subject to Master Netting Arrangement, before Offset |  |  |  | 1,000,000 |  |  |  |  |  |
Temporary Equity, Fair Value of Preferred Stock at Issuance |  |  |  | 95,000,000 |  |  |  |  |  |
Debt Instrument, Convertible, Stock Price Trigger (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 14.5 |  |  |
Embedded Derivative, Fair Value of Embedded Derivative Liability |  |  |  | 1,000,000 |  |  |  |  |  |
Series B Preferred Stock [Member] | Other Noncurrent Liabilities [Member] |  |  |  |  |  |  |  |  |  |
Embedded Derivative, Fair Value of Embedded Derivative Liability |  |  |  | $ 1,000,000 |  |  |  |  | $ 1,000,000 |
Series B Preferred Stock [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Trading Days |  |  |  |  |  |  | 45 |  |  |
Series B Preferred Stock [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Consecutive Trading Days |  |  |  |  |  |  | 60 |  |  |
Series B Preferred Stock [Member] | Purchase Agreement [Member] |  |  |  |  |  |  |  |  |  |
Convertible Preferred Stock, Shares Issued upon Conversion (in shares) | shares |  |  |  | 9.5238 |  |  |  |  |  |
Temporary Equity, Fair Value of Preferred Stock at Issuance |  |  |  | $ 95,000,000 |  |  |  |  |  |
Preferred Stock, Convertible, Conversion Price (in dollars per share) | $ / shares |  |  |  | $ 10.5 |  |  |  |  |  |
Series B Preferred Stock [Member] | Repurchase And Exchange Agreement [Member] |  |  |  |  |  |  |  |  |  |
Preferred Stock, Dividend Rate, Percentage |  |  |  | 4.00% |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) | shares |  |  |  | 1,000,000 |  |  |  |  |  |
Dividends and Interest Paid |  |  |  | $ 641,667 |  |  |  |  |  |
Series C Preferred Stock [Member] |  |  |  |  |  |  |  |  |  |
Proceeds from Issuance of Preferred Stock and Preference Stock |  |  |  |  |  |  | $ 0 | 0 | $ 99,000,000 |
Preferred Stock, Redemption Price Per Share (in dollars per share) | $ / shares |  |  |  | $ 100 |  |  |  |  |  |
Temporary Equity Issuance Of Redeemable Convertible Preferred Stock Net Of Offering Costs And Derivative Liability |  |  |  |  |  |  | 97,000,000 |  |  |
Derivative Liability, Subject to Master Netting Arrangement, before Offset |  |  |  | $ 2,000,000 |  |  |  |  |  |
Transaction Costs |  |  |  | 1,000,000 |  |  |  |  |  |
Embedded Derivative, Fair Value of Embedded Derivative Liability |  |  |  | $ 2,000,000 |  |  |  |  |  |
Series C Preferred Stock [Member] | After February Twenty Six Two Thousand Twenty Three [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Percentage of Stock Price Trigger |  | 200.00% |  |  |  |  |  |  |  |
Series C Preferred Stock [Member] | After February Twenty Six Two Thousand Twenty Four [Member] | Forecast [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Percentage of Stock Price Trigger | 150.00% |  |  |  |  |  |  |  |  |
Series C Preferred Stock [Member] | Other Noncurrent Liabilities [Member] |  |  |  |  |  |  |  |  |  |
Embedded Derivative, Fair Value of Embedded Derivative Liability |  |  |  |  |  |  | $ 1,000,000 | $ 1,000,000 |  |
Series C Preferred Stock [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Trading Days |  |  |  |  |  |  | 45 |  |  |
Series C Preferred Stock [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Consecutive Trading Days |  |  |  |  |  |  | 60 |  |  |
Series C Preferred Stock [Member] | Purchase Agreement [Member] |  |  |  |  |  |  |  |  |  |
Temporary Equity, Shares Issued (in shares) | shares |  |  | 250,000 | 750,000 |  |  |  |  | 100,000,000 |
Preferred Stock, Dividend Rate, Percentage |  |  |  | 5.00% |  |  |  |  |  |
Temporary Equity, Liquidation Preference Per Share (in dollars per share) | $ / shares |  |  |  | $ 100 |  |  |  |  |  |
Preferred Stock, No Par Value (in dollars per share) | $ / shares |  |  |  | $ 0 |  |  |  |  |  |
Gross Proceeds From Issuance Of Preferred Stock And Preference Stock |  |  | $ 25,000,000 | $ 75,000,000 |  |  |  |  |  |
Preferred Stock, Convertible, Conversion Price (in dollars per share) | $ / shares |  |  |  | $ 10 |  |  |  |  |  |
Convertible Preferred Stock, Shares Reserved for Future Issuance (in shares) | shares |  |  |  | 1,000,000 |  |  |  |  |  |
Gross Proceeds Owed on Issuance of PreferredStock |  |  |  | $ 100,000,000 |  |  |  |  |  |
Series C Preferred Stock [Member] | Dividend And Other Rights [Member] |  |  |  |  |  |  |  |  |  |
Preferred Stock, Dividend Rate, Percentage |  |  |  | 5.00% |  |  |  |  |  |

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- Definition Fair value, before effects of master netting arrangements, of a financial liability or contract with one or more underlyings, notional amount or payment provision or both, and the contract can be net settled by means outside the contract or delivery of an asset. Includes liabilities elected not to be offset. Excludes liabilities not subject to a master netting arrangement. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 210 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 22 -Publisher FASB -URI https://asc.fasb.org//1943274/2147483444/210-20-55-22 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 210 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 3 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147483466/210-20-50-3 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 210 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 7 -Publisher FASB -URI https://asc.fasb.org//1943274/2147483444/210-20-55-7 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4B -Subparagraph (a),(c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480434/815-10-50-4B Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 4D -Subparagraph (c)(2) -SubTopic 20 -Topic 860 -Publisher FASB -URI https://asc.fasb.org//1943274/2147481326/860-20-50-4D + Details
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