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Note 8 - Stock-based Compensation - RSU Stock-based Payment Awards (Details) - Restricted Stock Units (RSUs) [Member]
 6 Months Ended
Jun. 30, 2023
$ / shares
shares
Balance, units (in shares) | shares 3,652
Balance, weighted average grant date fair value (in dollars per share) | $ / shares $ 36.49
Vested, units (in shares) | shares (1,157) [1]
Vested, weighted average grant date fair value (in dollars per share) | $ / shares $ 36.04 [1]
Outstanding, units (in shares) | shares 2,495
Outstanding, weighted average grant date fair value (in dollars per share) | $ / shares $ 37.57
[1] The RSUs vested during the six months ended June 30, 2023 were settled on a hybrid basis. The Company withheld 512 shares of common stock and, in lieu of delivering such shares, paid the RSU holder an amount in cash equal to the fair market value of such shares on the vesting date, representing the holder's approximate tax liability associated with the vesting