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Note 13 - Share-based Compensation (Details Textual) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) | 2,000,000 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) | 1,712,378 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  | 5 years |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value | $ 500 | $ 4,500 |
Proceeds from Stock Options Exercised | 728 | 2,703 |
Share-based Payment Arrangement, Exercise of Option, Tax Benefit |  | 900 |
Share-Based Payment Arrangement, Option [Member] |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ 1,400 |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 1 year 10 months 24 days |  |
Stock Appreciation Rights (SARs) [Member] |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ 100 | 800 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 1 year 7 months 6 days |  |
Employee Service Share-based Compensation, Tax Benefit from Exercise of Equity Instruments Other than Options |  |  | $ 100
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount |  | $ 200 |
Restricted Stock [Member] |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 2 years 7 months 6 days |  |
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | $ 4,600 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 3 years |
Restricted Stock [Member] | Maximum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 5 years |
Performance Shares [Member] |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 3 years 7 months 6 days |  |
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | $ 2,400 |  |
Performance Shares [Member] | Maximum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 5 years |
Performance Shares [Member] | Minimum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 3 years |
Common Stock [Member] |  |  |
Shares Received from Stock Options Exercised (in shares) | 9,738 | 17,365 |
Stock Issued During Period, Shares, New Issues (in shares) | 11,784 | 24,591 |
Outside Directors [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  | 10 years |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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