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Note 9 - Intangible Assets, Net (Tables) | 3 Months Ended
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Mar. 31, 2022
Notes Tables |
Schedule of Finite-Lived Intangible Assets [Table Text Block] |
|  | March 31, 2022 |
​ |  | Gross |  |  | Accumulated |  |  | Intangible |
​ |  | Amount |  |  | amortization |  |  | assets, net |
Patents |  | $ | 8,683 |  |  | $ | (4,910 | ) |  | $ | 3,773 |
Trademarks |  |  | 37 |  |  |  | (18 | ) |  |  | 19 |
Total intangible assets |  | $ | 8,720 |  |  | $ | (4,928 | ) |  | $ | 3,792 |
|  | December 31, 2021 |
​ |  | Gross |  |  | Accumulated |  |  | Intangible |
​ |  | Amount |  |  | amortization |  |  | assets, net |
Patents |  | $ | 8,597 |  |  | $ | (4,779 | ) |  | $ | 3,818 |
Trademarks |  |  | 35 |  |  |  | (17 | ) |  |  | 18 |
Total intangible assets |  | $ | 8,632 |  |  | $ | (4,796 | ) |  | $ | 3,836 |
Schedule of Finite-Lived Intangible Assets, Future Amortization Expense [Table Text Block] |
2023 |  | $ | 584 |
2024 |  |  | 584 |
2025 |  |  | 584 |
2026 |  |  | 584 |
2027 |  |  | 584 |
thereafter |  |  | 872 |
|  | $ | 3,792 |

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