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Note 8 - Stock-based Compensation (Details Textual) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended | 9 Months Ended
--- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Jun. 30, 2023 | Sep. 30, 2023 | Sep. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  |  | 0 |
Deferred Compensation Plan for Directors [Member] |  |  |  |  |
Deferred Compensation Arrangement with Individual, Compensation Expense |  |  |  | $ 0 | $ 0
The 2014 Long-term Incentive Plan [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) | 5,600,676 |  |  | 5,600,676 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) | 745,650 |  |  | 745,650 |
Share-Based Payment Arrangement, Expense, Tax Benefit | $ 0 | $ 0 |  | $ 0 | $ 0
The 2014 Long-term Incentive Plan [Member] | Share-Based Payment Arrangement, Option [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  | 10 years |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  | 0 |  |
The 2014 Long-term Incentive Plan [Member] | Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 50.00% |
The 2014 Long-term Incentive Plan [Member] | Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche Two [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 25.00% |
The 2014 Long-term Incentive Plan [Member] | Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche Three [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 25.00% |
The 2014 Long-term Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  |  |  | $ 62 |
The 2014 Long-term Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Minimum [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  | 2 years |
The 2014 Long-term Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Maximum [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  | 4 years |
The 2014 Long-term Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Tranche One, If Look-Back RSUs Awarded [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 33.33% |
The 2014 Long-term Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Tranche Two, If Look-Back RSUs Awarded [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 33.33% |
The 2014 Long-term Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Tranche Three, If Look-Back RSUs Awarded [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 33.33% |
The 2014 Long-term Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Vesting If Total Revenue RSU, New Business Growth RSU, or Operating Income Growth RSU Awarded [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 100.00% |
The 2014 Long-term Incentive Plan [Member] | Restricted Stock [Member] |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $ 1,670 |  |  | $ 1,670 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 1 year 11 months 1 day |

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