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Note 9 - Per Share Data - Unissued Shares of Common Stock Were Reserved for the Following Purposes (Details) - shares	Sep. 30, 2023	Dec. 31, 2022
Future grants of options or shares (in shares)	608,129	890,682
Shares reserved for employee stock purchase plan (in shares)	297,730	364,231
Total (in shares)	1,389,820	1,754,852
Time-based Restricted Stock Units [Member]
Restricted stock units outstanding (in shares)	383,961	274,939
Performance-based Restricted Stock Units [Member]
Restricted stock units outstanding (in shares)	100,000	0
Performance-based Restricted Stock Units Under Plans to Be Approved by Shareholders [Member]
Restricted stock units outstanding (in shares)	0	225,000

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- Definition

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+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.29)
-Publisher FASB
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-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(i)
-SubTopic 10
-Topic 718
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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