Note 13 - Equity Incentive Plan - Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-based compensation expense	$ 15,243	$ 14,315	$ 11,085
Cost of Sales [Member]
Stock-based compensation expense	646	820	716
Research and Development Expense [Member]
Stock-based compensation expense	2,189	1,646	1,233
Selling, General and Administrative Expenses [Member]
Stock-based compensation expense	$ 12,408	$ 11,849	$ 9,136