Note 11 - Stock-based Compensation - Non-cash Share-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Share-based compensation	$ 2,033	$ 2,961	$ 6,361	$ 6,589
Share-Based Payment Arrangement, Option [Member]
Share-based compensation	913	1,346	2,812	3,552
Restricted Stock Units (RSUs) [Member]
Share-based compensation	772	1,581	2,480	2,933
Performance Restricted Stock Unit [Member]
Share-based compensation	$ 348	$ 34	$ 1,069	$ 104