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Note 12 - Equity Plans - Restricted Stock Unit Activity (Details) - $ / shares
 6 Months Ended 12 Months Ended
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Outstanding, number of shares (in shares)   617,518 576,867 576,867
Outstanding, weighted average granted price (in dollars per share)   $ 18.95 $ 18.40 $ 18.40
Converted into shares, weighted average granted price (in dollars per share)     $ 18.84  
Forfeited, weighted average granted price (in dollars per share)   $ 19.65    
Outstanding, number of shares (in shares) 605,494 662,103 605,494 617,518
Outstanding, weighted average granted price (in dollars per share) $ 18.89 $ 20.28 $ 18.89 $ 18.95
Vested, number of shares (in shares) 409,710 436,341    
Vested, weighted average granted price (in dollars per share) $ 20.17 $ 24.98    
Restricted Stock Unites and Performance Stock Units [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   49,768 35,558  
Granted, weighted average granted price (in dollars per share)   $ 36.63 $ 26.72  
Converted into shares, number of shares (in shares)   (2,610) (3,580)  
Converted into shares, weighted average granted price (in dollars per share)   $ 18.78    
Forfeited, number of shares (in shares)   (2,573) (3,351)  
Forfeited, weighted average granted price (in dollars per share)     $ 18.14  
Forfeited, number of shares (in shares)   (2,573) (3,351)