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Note 9 - Capital Stock (Details Textual) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Jul. 01, 2023
Common Stock, Shares Authorized (in shares) 50,000,000 50,000,000  
Common Stock, Par or Stated Value Per Share (in dollars per share) $ 0.01 $ 0.01  
Preferred Stock, Shares Authorized (in shares) 10,000,000 10,000,000  
Preferred Stock, Par or Stated Value Per Share (in dollars per share) $ 0.01 $ 0.01  
Common Stock, Shares, Issued (in shares) 22,317,671 22,293,687  
Common Stock, Shares, Outstanding, Ending Balance (in shares) 22,021,341 22,166,450  
Preferred Stock, Shares Issued, Total (in shares) 0 0  
Treasury Stock, Shares, Total (in shares) 296,330 127,237  
Treasury Stock, Value, Total $ 8,736,000 $ 4,000,000  
September 2011 Reauthorization [Member]      
Stock Repurchase Program, Number of Shares Authorized to be Repurchased (in shares)     500,000
Treasury Stock, Shares, Acquired (in shares) 169,093 168,847