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Note 9 - Intangible Assets, Net (Tables) | 3 Months Ended
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Mar. 31, 2023
Notes Tables |
Schedule of Finite-Lived Intangible Assets [Table Text Block] |
|  | March 31, 2023 |
​ |  | Gross |  |  | Accumulated |  |  | Intangible |
​ |  | Amount |  |  | amortization |  |  | assets, net |
Patents |  | $ | 9,111 |  |  | $ | (5,493 | ) |  | $ | 3,618 |
Trademarks |  |  | 60 |  |  |  | (23 | ) |  |  | 37 |
Total intangible assets |  | $ | 9,171 |  |  | $ | (5,516 | ) |  | $ | 3,655 |
|  | December 31, 2022 |
​ |  | Gross |  |  | Accumulated |  |  | Intangible |
​ |  | Amount |  |  | amortization |  |  | assets, net |
Patents |  | $ | 8,994 |  |  | $ | (5,330 | ) |  | $ | 3,664 |
Trademarks |  |  | 56 |  |  |  | (21 | ) |  |  | 35 |
Total intangible assets |  | $ | 9,050 |  |  | $ | (5,351 | ) |  | $ | 3,699 |
Schedule of Finite-Lived Intangible Assets, Future Amortization Expense [Table Text Block] |
2023 |  |  | 477 |
2024 |  |  | 636 |
2025 |  |  | 636 |
2026 |  |  | 636 |
2027 |  |  | 636 |
2028 and thereafter |  |  | 634 |
|  |  | 3,655 |

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