Consolidated Balance Sheets (Parentheticals) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	175,000,000	175,000,000
Common stock, shares issued (in shares)	151,465,598	146,426,697
Common stock, shares outstanding (in shares)	151,424,289	146,385,388
Treasury Stock, Common, Shares (in shares)	41,309	41,309