Note 9 - Stock Compensation Plans - Restricted Stock and Restricted Stock Units (Details) - Restricted Stock Units (RSUs) [Member] - $ / shares		12 Months Ended
		Dec. 31, 2023		Dec. 31, 2022		Dec. 31, 2021
Outstanding (in shares)	[1]	295,705
Outstanding, weighted average grant date fair value (in dollars per share)		$ 8.56
Granted (in shares)	[2]	415,438
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share)		$ 6.14		$ 9.4		$ 6.95
Vested and released (in shares)		(217,799)
Vested and released, weighted average grant date fair value (in dollars per share)		$ 8.77
Canceled/Expired (in shares)		(7,019)
Canceled/Expired, weighted average grant date fair value (in dollars per share)		$ 7.63
Outstanding (in shares)		486,325	[2]	295,705	[1]
Outstanding, weighted average grant date fair value (in dollars per share)		$ 6.41		$ 8.56

[1] includes 30,702 awards which were settled in cash.

[2] includes 59,309 awards which were expected to be settled in cash.