Note 11 - Leases (Details Textual) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2021	Dec. 31, 2022
Right-of-Use Asset Obtained in Exchange for Operating Lease Liability	$ 4.3
Operating Lease, Weighted Average Remaining Lease Term (Year)	3 years 9 months 18 days		4 years 4 months 24 days
Operating Lease, Weighted Average Discount Rate, Percent	5.60%		5.10%
Operating Lease, Liability, Current	$ 5.3
Letters of Credit Outstanding, Amount	$ 1.0
Operating Lease, Expense		$ 6.4