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Note 8 - Stock-Based Compensation - Stock-based Compensation Allocation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Payment Arrangement, Expense | $ 14,794 | $ 17,719 | $ 9,396
Research and Development Expense [Member] |  |  |
Share-based Payment Arrangement, Expense | 10,222 | 13,977 | 6,867
Selling, General and Administrative Expenses [Member] |  |  |
Share-based Payment Arrangement, Expense | $ 4,572 | $ 3,742 | $ 2,529

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