Note 11 - Equity Incentive Plan - Stock Options (Details) $ / shares in Units, $ in Thousands	6 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares
Outstanding, shares (in shares) | shares	1,530,703
Outstanding, Weighted Average Exercise (in dollars per share) | $ / shares	$ 34.93
Granted, shares (in shares) | shares	361,745
Granted, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 29.51
Exercised, shares (in shares) | shares	(2,034)
Exercised, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 18.30
Exercised, Aggregate Intrinsic Value | $	$ 20
Forfeited and canceled, shares (in shares) | shares	(45,958)
Forfeited and canceled, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 36.61
Outstanding, shares (in shares) | shares	1,844,456
Outstanding, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 33.84
Outstanding, Weighted Average Remaining Contractual Term (Year)	8 years
Outstanding, Aggregate Intrinsic Value | $	$ 188
Vested, shares (in shares) | shares	955,429
Vested, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 36.75
Vested, Weighted Average Remaining Contractual Term (Year)	7 years 1 month 6 days
Vested, Aggregate Intrinsic Value | $	$ 38
Vested and expected to vest, shares (in shares) | shares	1,844,456
Vested and expected to vest, Weighted Average Exercise Price (in dollars per share) | $ / shares	$ 33.84
Vested and expected to vest, Weighted Average Remaining Contractual Term (Year)	8 years
Vested and expected to vest, Aggregate Intrinsic Value | $	$ 188