Note 13 - Equity Incentive Plan - Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2021
Outstanding, shares (in shares)	1,530,703
Outstanding, Weighted Average Exercise (in dollars per share)	$ 34.93
Granted, shares (in shares)	404,903
Granted, Weighted Average Exercise Price (in dollars per share)	$ 28.58
Exercised, shares (in shares)	(2,034)
Exercised, Weighted Average Exercise Price (in dollars per share)	$ 18.3
Exercised, Aggregate Intrinsic Value	$ 20	$ 300
Forfeited and canceled, shares (in shares)	(120,843)
Forfeited and canceled, Weighted Average Exercise Price (in dollars per share)	$ 36.59
Outstanding, shares (in shares)	1,812,729
Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 33.42
Outstanding, Weighted Average Remaining Contractual Term (Year)	7 years 6 months
Outstanding, Aggregate Intrinsic Value	$ 127
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested, Number of Shares (in shares)	983,834
Vested, Weighted Average Exercise Price (in dollars per share)	$ 36.66
Vested, Weighted Average Remaining Contractual Term (Year)	6 years 8 months 12 days
Vested, Aggregate Intrinsic Value	$ 5
Vested and expected to vest, shares (in shares)	1,812,729
Vested and expected to vest, Weighted Average Exercise Price (in dollars per share)	$ 33.42
Vested and expected to vest, Weighted Average Remaining Contractual Term (Year)	7 years 6 months
Vested and expected to vest, Aggregate Intrinsic Value	$ 127