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Note 11 - Income Taxes (Details Textual) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Unrecognized Tax Benefits, Ending Balance $ 8,925 $ 5,140 $ 2,491 $ 1,470
Unrecognized Tax Benefits that Would Impact Effective Tax Rate 0      
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount $ 10,800 $ 17,000    
Operating Loss Carryforwards, Expiration Date Dec. 31, 2034      
Domestic Tax Authority [Member]        
Operating Loss Carryforwards $ 199,900      
Operating Loss Carryforwards, Expiration Date Dec. 31, 2035      
Operating Loss Carryforwards, Not Subject to Expiration $ 174,300      
Tax Credit Carryforward, Amount 5,800      
State and Local Jurisdiction [Member]        
Operating Loss Carryforwards 204,600      
Tax Credit Carryforward, Amount $ 5,500