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Note 8 - Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Stock-based compensation expense $ 1,628 $ 1,444 $ 2,895 $ 3,018
Research and Development Expense [Member]        
Stock-based compensation expense 146 174 229 548
General and Administrative Expense [Member]        
Stock-based compensation expense $ 1,482 $ 1,270 $ 2,666 $ 2,470