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Note 10 - Capital Stock and Stock-based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Millions | 1 Months Ended | 12 Months Ended
--- | --- | ---
May 31, 2021 | Dec. 31, 2022 | Dec. 31, 2021
Treasury Stock, Shares, Retired (in shares) | 7,800,000 |  |
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) |  | 200,000 | 100,000
Share Price (in dollars per share) |  | $ 2.77 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value |  | $ 0.1 | $ 1.3
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  | $ 5.1 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  | 1 year 7 months 6 days |
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 | 163,216
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) |  | 401,308 | 403,422
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) |  | $ 5.08 | $ 4.61
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) |  | 400,000 |
2021 Incentive Plan [Member] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  | 3,900,000 |
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 |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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