Note 14 - Equity Incentive Plan - Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock-based compensation expense	$ 14,315	$ 11,085	$ 5,386
Cost of Sales [Member]
Stock-based compensation expense	820	716	719
Research and Development Expense [Member]
Stock-based compensation expense	1,646	1,233	713
Selling, General and Administrative Expenses [Member]
Stock-based compensation expense	$ 11,849	$ 9,136	$ 3,954