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Note 11 - Stockholders' Equity and Stock-based Compensation (Details Textual) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Mar. 31, 2023
Share-Based Payment Arrangement, Expense $ 0.4 $ 0.6 $ 0.8 $ 1.2  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)     0    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period (in shares)     0 0  
Restricted Stock Units (RSUs) [Member]          
Stock Issued During Period, Shares, Restricted Stock Award, Gross (in shares)     11,623 58,762  
Participant [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Grant Limit (in shares)     2,000,000    
Non Employee Board Member [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Grant Limit (in shares)     100,000    
Amended And Restated2019 Long Term Incentive Plan [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) 5,500,000   5,500,000   4,000,000