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Note 14 - Share-based Compensation - RSU and PSA Activity (Details) - Restricted Stock Units and Performance Stock Awards [Member] - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Unvested RSUs and PSAs (in shares) [1] 161,131    
Unvested RSUs and PSAs, weighted average grant date fair value (in dollars per share) $ 30.26    
RSUs and PSAs granted (in shares) [1] 116,622    
RSUs and PSAs granted, weighted average grant date fair value (in dollars per share) $ 30.68 $ 33.30 $ 26.61
Unvested RSUs and PSAs canceled (in shares) [1] (8,248)    
Unvested RSUs and PSAs canceled, weighted average grant date fair value (in dollars per share) $ 31.18    
RSUs and PSAs vested (in shares) [1],[2] (68,581)    
RSUs and PSAs vested, weighted average grant date fair value (in dollars per share) [2] $ 29.29    
Unvested RSUs and PSAs (in shares) [1] 200,924 161,131  
Unvested RSUs and PSAs, weighted average grant date fair value (in dollars per share) $ 30.80 $ 30.26  
[1] The number of PSAs disclosed in this table are at the target level of 100%.
[2] For the PSAs vested on March 31, 2022, the actual number of common shares that were issued was determined by multiplying the PSAs at the target level of 100%, as disclosed in this table, by a payout percentage based on the performance-based conditions achieved. The payout percentage was 141% for the 2020-2021 performance period and 93% for the 2021 performance period.