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Note 10 - Capital Stock and Stock-based Compensation (Details Textual) - USD ($)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Treasury Stock, Shares, Retired (in shares) 7,745,507    
Preferred Stock, Shares Authorized (in shares) 5,000,000 5,000,000  
Employee Stock Purchase Plan, Consecutive Payment Periods (Year) 6 years    
Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Offering Date 85.00%    
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares) 95,507 126,255  
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount (in shares) 4,300,000 5,000,000.0  
Share Price (in dollars per share) $ 7.05    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value $ 1,310,765 $ 92,162  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total $ 5,200,000    
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) 1 year 10 months 24 days    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share)   $ 1.21  
Market Condition Restricted Stock Units [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Performance Factor Adjustment (in shares) 163,216 233,055  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number, Ending Balance (in shares) 860,155 813,031 529,491
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) 293,509 332,622  
Minimum Vesting Rate of the Targeted Shareholder Return, Percentage 0.00%    
Maximum Vesting Rate of the Targeted Shareholder Return, Percentage 150.00%    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) $ 4.61 $ 2.98  
Share-based Payment Arrangement, Option [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) 10 years    
Share-based Payment Arrangement, Option [Member] | Minimum [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) 1 year    
Share-based Payment Arrangement, Option [Member] | Maximum [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) 4 years    
Employee Stock Purchase Plan [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) 96,834    
2021 Incentive Plan [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) 4,100,000    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) 2,200,000    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) 2,100,000