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Note 2 - Fair Value Measurement - Fair Value of Warrant Liabilities Using Level 3 Inputs (Details) - Warrant Liabilities [Member] - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Beginning balance $ 2,780 $ 39,602 $ 28,516
Exercised warrants (2,901) (33,221) (1,749)
Change in fair value recognized in net (loss) income (121) 3,601 (12,835)
Ending balance $ 0 $ 2,780 $ 39,602