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Note 3 - Stock-based Compensation - Valuation Assumptions (Details) - 2004 Employee Stock Plan [Member] - Employee Stock Purchase Plan [Member]
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Expected term (Year) 6 months 6 months
Expected volatility 42.40% 55.80%
Risk-free interest rate 5.30% 5.00%
Dividend yield 0.70% 0.80%