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Note 8 - Stock-based Compensation (Details Textual) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
May 23, 2017
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Share-Based Payment Arrangement, Expense   $ 1.2 $ 1.2 $ 3.5 $ 3.2
Performance Shares [Member]          
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total   $ 1.5   $ 1.5  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)       1 year 9 months 18 days  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected toVested (in shares)   195,264   195,264  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Expected to Vest, Performance Obligations Exceeded (in shares)   221,541   221,541  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)       49,604  
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares)       27,254  
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture, Total (in shares)       22,350 34,458
Restricted Stock [Member]          
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total   $ 1.3   $ 1.3  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)       1 year 1 month 6 days  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)       42,815  
Restricted Stock Units (RSUs) [Member]          
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total   $ 1.5   $ 1.5  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)       1 year 6 months  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)       69,225  
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares)       37,842  
Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture, Total (in shares)       31,383 14,711
The 2017 Equity Compensation Plan [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) 750,000        
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)   200,300   200,300  
The 2017 Equity Compensation Plan [Member] | Restricted Stock, Options and Restricted Stock Units [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 3 years        
The 2017 Equity Compensation Plan [Member] | Restricted Stock, Options and Restricted Stock Units [Member] | Vesting Each Year [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage 33.33%        
The 2017 Equity Compensation Plan [Member] | Share-Based Payment Arrangement, Option [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) 10 years        
The 2017 Equity Compensation Plan [Member] | Performance Shares [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 3 years