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Note 8 - Stock-based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2022
Dec. 31, 2021
Sep. 30, 2021
Outstanding (in shares) 3,659    
Outstanding, weighted average exercise price per share (in dollars per share) $ 4.99    
Outstanding, weighted average remaining contractual term (Year) 8 years 8 months 12 days 8 years 8 months 1 day  
Granted (in shares) 2,277    
Granted, weighted average exercise price per share (in dollars per share) $ 2.30    
Granted, weighted average remaining contractual term (Year) 9 years 4 months 17 days    
Exercised (in shares) (2)    
Exercised (in dollars per share) $ 1.56    
Forfeited/canceled (in shares) (334)    
Forfeited/canceled (in dollars per share) $ 4.07    
Outstanding (in shares) 5,600 3,659  
Outstanding, weighted average exercise price per share (in dollars per share) $ 3.97 $ 4.99  
Outstanding, aggregate intrinsic value $ 277    
Vested (in shares) 2,472    
Vested, weighted average exercise price per share (in dollars per share) $ 4.74    
Vested, weighted average remaining contractual term (Year) 8 years 2 months 19 days    
Vested, aggregate intrinsic value $ 19   $ 0