Note 13 - Stock-based Compensation - Stock Option Transactions (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Outstanding, option shares (in shares)	4,863
Outstanding, weighted average exercise price (in dollars per share)	$ 16.63
Granted, option shares (in shares)	0	0	0
Granted, weighted average exercise price (in dollars per share)	$ 0
Exercised, option shares (in shares)	(713)	(5,346)	(2,573)
Exercised, weighted average exercise price (in dollars per share)	$ 16.63
Expired, option shares (in shares)	0
Expired, weighted average exercise price (in dollars per share)	$ 0
Outstanding, option shares (in shares)	4,150	4,863
Outstanding, weighted average exercise price (in dollars per share)	$ 16.63	$ 16.63
Outstanding, Weighted Average Remaining Contractual Term (Year)	1 year 11 months 19 days
Outstanding, Aggregate Intrinsic Value	$ 84
Exercisable, option shares (in shares)	4,150
Exercisable, weighted average exercise price (in dollars per share)		$ 16.63
Exercisable, Weighted Average Remaining Contractual Term (Year)	1 year 11 months 19 days
Exercisable, Aggregate Intrinsic Value	$ 84

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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