Quarterly report pursuant to Section 13 or 15(d)

Note 13 - Employee Stock Plans - Summary of RSU Activity (Details)

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Note 13 - Employee Stock Plans - Summary of RSU Activity (Details) - Restricted Stock Units (RSUs) [Member] - $ / shares
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Unvested, shares (in shares) 111,264  
Unvested, weighted average grant date fair value (in dollars per share) $ 41.89  
Unvested, contractual term (Year) 1 year 10 months 9 days 1 year 9 months 3 days
Granted, shares (in shares) 120,834  
Granted, weighted average grant date fair value (in dollars per share) $ 39.37  
Granted, contractual term (Year) 1 year 8 months 26 days  
Vested, shares (in shares) (79,592)  
Vested, weighted average grant date fair value (in dollars per share) $ 44.47  
Cancelled and forfeited, shares (in shares) (3,805)  
Cancelled and forfeited, weighted average grant date fair value (in dollars per share) $ 39.43  
Unvested, shares (in shares) 148,701 111,264
Unvested, weighted average grant date fair value (in dollars per share) $ 38.52 $ 41.89
Expected to vest in the future, shares (in shares) 144,512  
Expected to vest in the future, weighted average grant date fair value (in dollars per share) $ 38.52  
Expected to vest in the future, contractual term (Year) 1 year 10 months 9 days