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Note 11 - Equity Incentive Plan - Total Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Stock-based compensation expense $ 3,590 $ 3,717
Cost of Sales [Member]    
Stock-based compensation expense 127 184
Research and Development Expense [Member]    
Stock-based compensation expense 531 517
Selling, General and Administrative Expenses [Member]    
Stock-based compensation expense $ 2,932 $ 3,016