Note 12 - Stock-Based Compensation - Number of Stock Option Awards Exercisable and their Weighted Average Exercise Price (Details)	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise price range, lower range limit (in usd per share)	$ 0
Exercise price range, upper range limit (in usd per share)	$ 18
Exercise price range, shares outstanding (in shares) | shares	36,520
Weighted Average Remaining Life	7 years 3 months 18 days
Weighted average exercise price (in dollars per share)	$ 8.59
Exercise price range, shares exercisable (in shares) | shares	18,828
Exercise price range, exercisable, weighted average exercise price (in dollars per share)	$ 7.17
Exercise Price Range 01
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise price range, lower range limit (in usd per share)	0
Exercise price range, upper range limit (in usd per share)	$ 3
Exercise price range, shares outstanding (in shares) | shares	1,145
Weighted Average Remaining Life	6 years 3 months 18 days
Weighted average exercise price (in dollars per share)	$ 2.65
Exercise price range, shares exercisable (in shares) | shares	777
Exercise price range, exercisable, weighted average exercise price (in dollars per share)	$ 2.66
Exercise Price Range 02
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise price range, lower range limit (in usd per share)	3
Exercise price range, upper range limit (in usd per share)	$ 6
Exercise price range, shares outstanding (in shares) | shares	8,653
Weighted Average Remaining Life	5 years 8 months 12 days
Weighted average exercise price (in dollars per share)	$ 4.23
Exercise price range, shares exercisable (in shares) | shares	7,183
Exercise price range, exercisable, weighted average exercise price (in dollars per share)	$ 4.32
Exercise Price Range 03
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise price range, lower range limit (in usd per share)	6
Exercise price range, upper range limit (in usd per share)	$ 9
Exercise price range, shares outstanding (in shares) | shares	9,704
Weighted Average Remaining Life	7 years 2 months 12 days
Weighted average exercise price (in dollars per share)	$ 7.90
Exercise price range, shares exercisable (in shares) | shares	6,332
Exercise price range, exercisable, weighted average exercise price (in dollars per share)	$ 7.70
Exercise Price Range 04
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise price range, lower range limit (in usd per share)	9
Exercise price range, upper range limit (in usd per share)	$ 12
Exercise price range, shares outstanding (in shares) | shares	13,390
Weighted Average Remaining Life	8 years 3 months 18 days
Weighted average exercise price (in dollars per share)	$ 10.89
Exercise price range, shares exercisable (in shares) | shares	3,287
Exercise price range, exercisable, weighted average exercise price (in dollars per share)	$ 11.01
Exercise Price Range 05
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise price range, lower range limit (in usd per share)	12
Exercise price range, upper range limit (in usd per share)	$ 15
Exercise price range, shares outstanding (in shares) | shares	2,189
Weighted Average Remaining Life	7 years 6 months
Weighted average exercise price (in dollars per share)	$ 13.06
Exercise price range, shares exercisable (in shares) | shares	927
Exercise price range, exercisable, weighted average exercise price (in dollars per share)	$ 12.80
Exercise Price Range 06
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercise price range, lower range limit (in usd per share)	15
Exercise price range, upper range limit (in usd per share)	$ 18
Exercise price range, shares outstanding (in shares) | shares	1,439
Weighted Average Remaining Life	8 years 4 months 24 days
Weighted average exercise price (in dollars per share)	$ 16.02
Exercise price range, shares exercisable (in shares) | shares	322
Exercise price range, exercisable, weighted average exercise price (in dollars per share)	$ 15.89