Note 7 - Intellectual Property - Intellectual Property (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Finite-Lived Intangible Assets, Gross	$ 69,238	$ 69,238
Finite-Lived Intangible Assets, Accumulated Amortization	(67,141)	(66,801)
Finite-Lived Intangible Assets, Foreign Currency Translation Impact	(819)	(861)
Intellectual property, net	1,278	1,576
Developed Technology Rights [Member]
Finite-Lived Intangible Assets, Gross	68,838	68,838
Finite-Lived Intangible Assets, Accumulated Amortization	(66,872)	(66,562)
Finite-Lived Intangible Assets, Foreign Currency Translation Impact	(830)	(874)
Intellectual property, net	1,136	1,402
Technology-Based Intangible Assets [Member]
Finite-Lived Intangible Assets, Gross	400	400
Finite-Lived Intangible Assets, Accumulated Amortization	(269)	(239)
Finite-Lived Intangible Assets, Foreign Currency Translation Impact	11	13
Intellectual property, net	$ 142	$ 174