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Note 5 - Stock-based Compensation (Details Textual) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Jan. 03, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) 0 1    
Share Price (in dollars per share)       $ 40.84
Restricted Stock [Member] | Employee [Member] | Minimum [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 3 years      
Restricted Stock [Member] | Employee [Member] | Maximum [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 4 years      
Restricted Stock [Member] | Director [Member] | Minimum [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 1 year      
Restricted Stock [Member] | Director [Member] | Maximum [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 3 years      
Restricted Stock Units (RSUs) [Member] | Minimum [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 3 years      
Restricted Stock Units (RSUs) [Member] | Maximum [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 4 years      
Performance Shares [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 3 years      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Cancelled and Reissued (in shares)     21  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Cancelled and Reissued, Weighted Average Grant Date Fair Value (in dollars per share)     $ 28.93  
Share-Based Payment Arrangement [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) 1,447      
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Requiring Re-registration (in shares) 137      
Share-Based Payment Arrangement, Option [Member]        
Share Price (in dollars per share) $ 36.12