Note 15 - Stock-based Compensation - Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Balance, shares (in shares)	29,167,803
Balance, weighted average exercise price (in dollars per share)	$ 4.05
Balance, weighted average remaining contractual life (Year)	5 years 10 months 28 days	6 years 6 months 10 days
Granted, shares (in shares)	1,125,374
Granted, weighted average exercise price (in dollars per share)	$ 4.22
Exercised, shares (in shares)	(2,840,716)	(1,799,665)	(5,141,331)
Exercised, weighted average exercise price (in dollars per share)	$ 1.96
Forfeited or expired, shares (in shares)	(260,276)
Forfeited or expired, weighted average exercise price (in dollars per share)	$ 7.03
Balance, shares (in shares)	27,192,185	29,167,803
Balance, weighted average exercise price (in dollars per share)	$ 4.25	$ 4.05