Note 5 - Accounts Receivable (Details Textual) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounts Receivable, Allowance for Credit Loss, Current	$ 4.3	$ 4.4
Accounts Receivable, Credit Loss Expense (Reversal)	$ 2.2	$ 1.3	$ 1.2