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Note 10 - Stockholders' Equity (Details Textual) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Jan. 12, 2016 | Jul. 28, 2015
Preferred Stock, Shares Authorized (in shares) | 5,000,000 |  |  |  | 5,000,000 |  |  |  | 5,000,000 | 5,000,000 |  |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.001 |  |  |  | $ 0.001 |  |  |  | $ 0.001 | $ 0.001 |  |
Common Stock, Shares Authorized (in shares) | 50,000,000 |  |  |  | 50,000,000 |  |  |  | 50,000,000 | 50,000,000 |  |
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.001 |  |  |  | $ 0.001 |  |  |  | $ 0.001 | $ 0.001 |  |
Common Stock, Dividends, Per Share, Declared (in dollars per share) | $ 0.2 | $ 0.2 | $ 0.2 | $ 0.2 | $ 0.2 | $ 0.2 | $ 0.2 | $ 0.2 | $ 0.8 | $ 0.8 |  |
Dividends, Common Stock |  |  |  |  |  |  |  |  | $ 9.2 | $ 9.1 |  |
Stock Repurchase Program, Authorized Amount |  |  |  |  |  |  |  |  |  |  | $ 70.0 | $ 15.0
Stock Repurchase Program, Remaining Authorized Repurchase Amount | $ 21.9 |  |  |  |  |  |  |  | $ 21.9 |  |  |

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