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Note 5 - Stock-based Compensation (Tables)
6 Months Ended
Jun. 30, 2023
Notes Tables  
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

Risk-free interest rates

3.86% -4.68%

Expected life (in years)

2 -5.75

Dividend yield

0.59%

Expected volatility (weighted average)

36.0% -42.2%

Risk-free interest rates

  4.70%

Expected life (in years)

  1 

Dividend yield

  0.56%

Expected volatility (weighted average)

  34.8%