Note 14 - Notes Payable (Details Textual) - USD ($) $ in Thousands					12 Months Ended
	Jun. 10, 2021	Apr. 27, 2020	Nov. 04, 2019	Jul. 10, 2019	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Jul. 09, 2019
Gain (Loss) on Extinguishment of Debt, Total					$ 2,847	$ 0	$ (1,006)
Hercules Loan Agreement [Member]
Gain (Loss) on Extinguishment of Debt, Total			$ 1,000
Extinguishment of Debt, Amount			16,400
Payment for Debt Extinguishment or Debt Prepayment Cost			$ 1,400
Paycheck Protection Program CARES Act [Member]
Debt Instrument, Decrease, Forgiveness	$ 2,800	$ 2,800
Notes Payable, Noncurrent, Total						1,600
Notes Payable, Current, Total						1,200
Proceeds from Issuance of Long-term Debt, Total	$ 2,800
Gain (Loss) on Extinguishment of Debt, Total					$ 2,800	$ 0	$ 0
Hercules Loan Agreement [Member]
Repayments of Debt				$ 15,000
Long-term Debt, Total								$ 30,000