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Note 6 - Stockholders' Equity (Details Textual) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Feb. 18, 2021
Subsidiary or Equity Method Investee [Line Items] |  |  |  |  |
Share-Based Payment Arrangement, Expense | $ 1.5 | $ 1.3 | $ 2.7 | $ 2.5 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ 9.5 |  | $ 9.5 |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  | 1 year 8 months 12 days |  |
Share-Based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) |  |  | 404,514 |  |
Share-Based Payment Arrangement, Decrease for Tax Withholding Obligation |  |  | $ 2.0 |  |
Shares Withheld for Tax Withholding Obligation, Price Per Share (in dollars per share) | $ 5.03 |  | $ 5.03 |  |
Proceeds from Issuance or Sale of Equity | $ 14.0 |  | $ 25.9 |  |
Payments of Stock Issuance Costs | $ 0.2 |  | $ 0.4 |  |
Common stock issued under ATM program , shares | 2,080,060 |  | 4,253,334 |  |
At the market Offering [Member] |  |  |  |  |
Subsidiary or Equity Method Investee [Line Items] |  |  |  |  |
Equity Distribution Agreement, Maximum Number of Shares to be Sold (in shares) |  |  |  |  | 60,000,000
At the market Offering [Member] | At The Market Equity Distribution Agreement [Member] |  |  |  |  |
Subsidiary or Equity Method Investee [Line Items] |  |  |  |  |
Equity Distribution Agreement, Maximum Number of Shares to be Sold (in shares) | 8,113,533 |  | 8,113,533 |  |
Proceeds from Issuance or Sale of Equity |  |  | $ 43.2 |  |
Payments of Stock Issuance Costs |  |  | $ 0.7 |  |

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