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Note 9 - Redeemable, Convertible Preferred Stock (Details Textual)
 1 Months Ended 12 Months Ended
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%