Consolidated Balance Sheets (Parentheticals) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001
Preferred stock, authorized (in shares)	10,000,000	10,000,000
Preferred stock, issued (in shares)	582	582
Preferred stock, outstanding (in shares)	582	582
Common stock, par value (in dollars per share)	$ 0.18	$ 0.18
Common stock, authorized (in shares)	175,000,000	175,000,000
Common stock, issued (in shares)	125,304,064	126,624,110
Common stock, outstanding (in shares)	125,304,064	126,624,110
Treasury stock, shares (in shares)	1,320,046	0