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Note 9 - Intangible Assets, Net (Tables) | 3 Months Ended
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Mar. 31, 2024
Notes Tables |
Schedule of Finite-Lived Intangible Assets [Table Text Block] |
|  | March 31, 2024 |
​ |  | Gross |  |  | Accumulated |  |  | Intangible |
​ |  | Amount |  |  | amortization |  |  | assets, net |
Patents |  | $ | 9,553 |  |  | $ | (6,081 | ) |  | $ | 3,472 |
Trademarks |  |  | 174 |  |  |  | (36 | ) |  |  | 138 |
Total intangible assets |  | $ | 9,727 |  |  | $ | (6,117 | ) |  | $ | 3,610 |
|  | December 31, 2023 |
​ |  | Gross |  |  | Accumulated |  |  | Intangible |
​ |  | Amount |  |  | amortization |  |  | assets, net |
Patents |  | $ | 9,502 |  |  | $ | (5,981 | ) |  | $ | 3,521 |
Trademarks |  |  | 138 |  |  |  | (31 | ) |  |  | 107 |
Total intangible assets |  | $ | 9,640 |  |  | $ | (6,012 | ) |  | $ | 3,628 |
Schedule of Finite-Lived Intangible Assets, Future Amortization Expense [Table Text Block] |
2024(remaining 9 months) |  | $ | 388 |
2025 |  |  | 517 |
2026 |  |  | 517 |
2027 |  |  | 517 |
2028 |  |  | 517 |
2029 and thereafter |  |  | 1,154 |
|  | $ | 3,610 |

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