Annual report pursuant to Section 13 and 15(d)

Note 10 - Stockholders' Equity (Details Textual)

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Note 10 - Stockholders' Equity (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Jan. 12, 2016
Jul. 28, 2015
Preferred Stock, Shares Authorized (in shares) 5,000,000       5,000,000       5,000,000 5,000,000    
Preferred Stock, Par or Stated Value Per Share (in dollars per share) $ 0.001       $ 0.001       $ 0.001 $ 0.001    
Common Stock, Shares Authorized (in shares) 50,000,000       50,000,000       50,000,000 50,000,000    
Common Stock, Par or Stated Value Per Share (in dollars per share) $ 0.001       $ 0.001       $ 0.001 $ 0.001    
Common Stock, Dividends, Per Share, Declared (in dollars per share) $ 0.2 $ 0.2 $ 0.2 $ 0.2 $ 0.2 $ 0.2 $ 0.2 $ 0.2 $ 0.8 $ 0.8    
Dividends, Common Stock                 $ 9.2 $ 9.1    
Stock Repurchase Program, Authorized Amount                     $ 70.0 $ 15.0
Stock Repurchase Program, Remaining Authorized Repurchase Amount $ 21.9               $ 21.9