Note 13 - Stock-based Compensation - Stock Options Outstanding (Details) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Options, Exercisable, Number of Shares (in shares) | shares	3,524,473
Options, Exercisable, Weighted Average Exercise Price (in dollars per share) | $ / shares (in dollars per share) | $ / shares	$ 7.40
Options, Exercisable, Weighted Average Remaining Contractual Term (Year)	4 years 9 months
Options, Exercisable, Aggregate Intrinsic Value | $	$ 0
Options, Vested and Expected to Vest, Exercisable, Number of Shares (in shares) | shares	7,350,141
Options, Vested and Expected to Vest, Exercisable, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 4.32
Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term (Year)	5 years 3 months 10 days
Options, Vested or Expected to Vest, Aggregate Intrinsic Value | $	$ 0