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Note 10 - Common Stock, Treasury Stock and Warrants (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
May 22, 2022
Common Stock, Shares, Issued (in shares) 85,917,891 84,385,458  
Treasury Stock, Common, Shares (in shares) 4,611,569 4,300,152  
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) 311,417,000 208,329,000  
Treasury Stock, Common, Value $ 11,407 $ 11,171  
Class of Warrant or Right, Outstanding (in shares) 0 0 833,333
Preferred Stock, Shares Authorized (in shares) 10,000,000 10,000,000  
Preferred Stock, Par or Stated Value Per Share (in dollars per share) $ 0.0001 $ 0.0001  
Preferred Stock, Shares Issued (in shares) 0 0  
Preferred Stock, Shares Outstanding (in shares) 0 0  
Minimum [Member]      
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)     $ 3.75
Maximum [Member]      
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)     $ 6
Restricted Stock Units (RSUs) [Member]      
Share-Based Compensation Arrangement by Share-Based Payment Award, Shares Issued in Period (in shares) 1,532,433 1,328,375  
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) 311,417 208,329