Note 12 - Stock-based Compensation - Summary of PSU, Restricted Share and RSU Activity (Details) - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Performance Shares [Member]
Balance, weighted average grant date fair value (in dollars per share)	$ 9.56	$ 5.41
Granted, weighted average grant date fair value (in dollars per share)	9.56
Vested and released, weighted average grant date fair value (in dollars per share)	0
Forfeited, weighted average grant date fair value (in dollars per share)	7.78
Restricted Stock Units (RSUs) [Member]
Balance, weighted average grant date fair value (in dollars per share)	11.06	14.17
Granted, weighted average grant date fair value (in dollars per share)	9.7
Vested and released, weighted average grant date fair value (in dollars per share)	12.25
Forfeited, weighted average grant date fair value (in dollars per share)	14.02
Market Stock Units [Member]
Balance, weighted average grant date fair value (in dollars per share)	17.48	$ 13.66
Granted, weighted average grant date fair value (in dollars per share)	9.56
Vested and released, weighted average grant date fair value (in dollars per share)	8.51
Forfeited, weighted average grant date fair value (in dollars per share)	$ 15.08
2021 Long-Term Incentive Compensation Plan [Member] \| Performance Shares [Member]
Balance (in shares)	22,620
Granted (in shares)	96,757
Vested and released (in shares)	0
Forfeited (in shares)	(52,693)
Balance (in shares)	66,684
2021 Long-Term Incentive Compensation Plan [Member] \| Restricted Stock Units (RSUs) [Member]
Balance (in shares)	540,723
Granted (in shares)	573,668
Vested and released (in shares)	(256,255)
Forfeited (in shares)	(200,929)
Balance (in shares)	657,207
2021 Long-Term Incentive Compensation Plan [Member] \| Market Stock Units [Member]
Balance (in shares)	131,976
Granted (in shares)	25,517
Vested and released (in shares)	(76,547)
Forfeited (in shares)	(19,065)
Balance (in shares)	61,881

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(ii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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