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Note 5 - Share-based Compensation - RSU and PSA Activity (Details) - Restricted Stock Units and Performance Stock Awards [Member]
 3 Months Ended
Mar. 31, 2023
$ / shares
shares
Unvested RSUs and PSAs (in shares) | shares 200,924 [1]
Unvested RSUs and PSAs, weighted average grant date fair value (in dollars per share) | $ / shares $ 30.80
Unvested RSUs and PSAs canceled (in shares) | shares (2,475) [1]
Unvested RSUs and PSAs canceled, weighted average grant date fair value (in dollars per share) | $ / shares $ 31.94
RSUs and PSAs vested (in shares) | shares (95,442) [1],[2]
RSUs and PSAs vested, weighted average grant date fair value (in dollars per share) | $ / shares $ 30.12 [2]
Unvested RSUs and PSAs (in shares) | shares 103,007 [1]
Unvested RSUs and PSAs, weighted average grant date fair value (in dollars per share) | $ / shares $ 31.40
[1] The number of PSAs disclosed in this table are at the target level of 100%.
[2] For the PSAs vested on March 31, 2023, 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 159% for the 2020-2022 performance period, 126% for the 2021-2022 performance period, and 132% for the 2022 performance period.