Annual report pursuant to Section 13 and 15(d)

Note 14 - Employee Stock Plans - Summary of RSU Activity (Details)

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Note 14 - Employee Stock Plans - Summary of RSU Activity (Details) - Restricted Stock Units (RSUs) [Member] - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Unvested, shares (in shares) 79,903 36,022 35,676  
Unvested, weighted average grant date fair value (in dollars per share) $ 48.87 $ 42.73 $ 36.49  
Unvested, contractual term (Year) 1 year 9 months 3 days 1 year 10 months 28 days 1 year 4 months 24 days 1 year 4 months 24 days
Granted, shares (in shares) 117,969 134,218 49,349  
Granted, weighted average grant date fair value (in dollars per share) $ 36.70 $ 44.48 $ 49.90  
Granted, contractual term (Year) 1 year 3 months 7 days 1 year 25 days 9 months 18 days  
Vested, shares (in shares) (79,265) (88,225) (48,112)  
Vested, weighted average grant date fair value (in dollars per share) $ 40.80 $ 39.73 $ 45.49  
Cancelled and forfeited, shares (in shares) (7,343) (2,112) (891)  
Cancelled and forfeited, weighted average grant date fair value (in dollars per share) $ 46.15 $ 44.48 $ 49.9  
Unvested, shares (in shares) 111,264 79,903 36,022 35,676
Unvested, weighted average grant date fair value (in dollars per share) $ 41.89 $ 48.87 $ 42.73 $ 36.49
Expected to vest in the future, shares (in shares) 108,242      
Expected to vest in the future, weighted average grant date fair value (in dollars per share) $ 41.89      
Expected to vest in the future, contractual term (Year) 1 year 9 months 3 days