Note 1 - Description of Business and Summary of Significant Accounting Policies - Reconciliation of Basic to Diluted Weighted-average Shares Outstanding (Details) - shares shares in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted average shares outstanding, basic (in shares)	92	92	95
Weighted average shares underlying stock options and restricted shares (in shares)	0	1	0
Weighted average shares outstanding, diluted (in shares)	92	93	95