Note 8 - Stock-based Compensation - Summary of Restricted Common Stock Activity (Details) - $ / shares		9 Months Ended
		Sep. 30, 2022	Sep. 30, 2021
Restricted Stock [Member]
Outstanding, Shares (in shares)	[1]	1,035,728	917,533
Outstanding, Weighted average grant date fair value (in dollars per share)		$ 19.69	$ 16.84
Granted, Shares (in shares)	[1]	400,927	343,402
Granted, Weighted average grant date fair value (in dollars per share)		$ 21.68	$ 18.73
Vested, Shares (in shares)		(341,918)	(613,179)
Vested, Weighted average grant date fair value (in dollars per share)		$ 19.03	$ 15.48
Outstanding, Shares (in shares)	[1]	1,094,737	647,756
Outstanding, Weighted average grant date fair value (in dollars per share)		$ 20.62	$ 19.13
Restricted Stock [Member] | Common Class A [Member]
Outstanding, Shares (in shares)	[1]	720,421	480,042
Outstanding, Weighted average grant date fair value (in dollars per share)		$ 18.22	$ 16.10
Granted, Shares (in shares)	[1]	250,448	233,425
Granted, Weighted average grant date fair value (in dollars per share)		$ 20.52	$ 17.67
Vested, Shares (in shares)		(229,758)	(248,539)
Vested, Weighted average grant date fair value (in dollars per share)		$ 16.99	$ 15.00
Outstanding, Shares (in shares)	[1]	741,111	464,928
Outstanding, Weighted average grant date fair value (in dollars per share)		$ 19.38	$ 17.47
Restricted Stock Units (RSUs) [Member]
Outstanding, Shares (in shares)		125,247	90,184
Outstanding, Weighted average grant date fair value (in dollars per share)		$ 19.02	$ 18.92
Granted, Shares (in shares)		259,079	95,115
Granted, Weighted average grant date fair value (in dollars per share)		$ 23.87	$ 19.05
Vested, Shares (in shares)		(108,921)	(60,052)
Vested, Weighted average grant date fair value (in dollars per share)		$ 19.03	$ 18.92
Forfeited, Shares (in shares)		(1,260)	0
Forfeited, Weighted average grant date fair value (in dollars per share)		$ 19.05	$ 0
Outstanding, Shares (in shares)		274,145	125,247
Outstanding, Weighted average grant date fair value (in dollars per share)		$ 23.60	$ 19.02

[1] For awards subject to future performance conditions, amounts assume target performance.