Note 12 - Stock-based Compensation - Non-cash Share-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share-based compensation	$ 1,528	$ 1,978	$ 3,273	$ 3,894
Share-Based Payment Arrangement, Option [Member]
Share-based compensation	341	591	766	1,256
Restricted Stock Units (RSUs) [Member]
Share-based compensation	844	977	1,800	1,836
Performance Restricted Stock Unit [Member]
Share-based compensation	$ 343	$ 410	$ 707	$ 802