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Note 11 - Equity Incentive Plan (Details Textual) - USD ($) $ / shares in Units, $ in Millions |  | 6 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Jun. 14, 2023 | Jun. 30, 2023 | Jun. 30, 2022 | Jun. 13, 2023 | Nov. 04, 2021 | Jun. 13, 2017
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  | 361,745 |  |  |  |
Premium-Priced Employee Stock Options [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Premium Priced Options, Exercise Price as Percentage of Market Price |  | 110.00% |  |  |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  | 3 years |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) |  | 10 years |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | $ 8.5 |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  | 2 years |  |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  | $ 17.9 |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  | 2 years 1 month 6 days |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  | $ 26.93 | $ 25.18 |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  | $ 6.6 | $ 5.4 |  |  |
Restricted Stock Units (RSUs) [Member] | Minimum [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  | 3 years |  |  |  |
Performance Shares [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  | $ 0 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  |  | $ 0.6 |  |  |
The 2017 Plan [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares) | 435,000 |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) | 5,285,000 |  |  | 4,850,000 |  |
Number of Shares Available for Grant Reduced By Each Share Award Issued Other Than Options or SARs (in shares) |  |  |  |  |  | 2
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  | 800,000 |  |  |  | 5,285,000
The 2021 Inducement Plan [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  | 10,374 |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  |  |  |  | 125,000 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  | 3 years |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) |  | 10 years |  |  |  |

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