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Note 7 - Stock-based Compensation - Stock Plan Activities (Details) - $ / shares
shares in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Options outstanding, stock option awards exercised (in shares) (942)  
Incentive Plan [Member]    
Awards available, beginning balance (in shares)   4,592
Options outstanding, beginning balance (in shares)   24,885
Weighted average exercise price, beginning balance (in dollars per share)   $ 6.52
Plan amendment (in shares)   7,500
Awards available, Restricted stock awards granted (in shares)   (100)
Awards available, stock option awards granted (in shares)   (2,108)
Options outstanding, stock option awards granted (in shares)   2,108
Weighted average exercise price, stock option awards granted (in dollars per share)   $ 11.87
Options outstanding, stock option awards exercised (in shares)   (2,205)
Weighted average exercise price, stock option awards exercised (in dollars per share)   $ 4.11
Awards available, stock option awards cancelled (in shares)   208
Options outstanding, stock option awards cancelled (in shares)   (208)
Weighted average exercise price, stock option awards cancelled (in dollars per share)   $ 7.47
Awards available, ending balance (in shares) 10,092 10,092
Options outstanding, ending balance (in shares) 24,580 24,580
Weighted average exercise price, ending balance (in dollars per share) $ 7.18 $ 7.18
Inducement Plan [Member]    
Awards available, beginning balance (in shares)   229
Options outstanding, beginning balance (in shares)   4,171
Weighted average exercise price, beginning balance (in dollars per share)   $ 3.88
Plan amendment (in shares)   1,500
Awards available, stock option awards granted (in shares)   (738)
Options outstanding, stock option awards granted (in shares)   738
Weighted average exercise price, stock option awards granted (in dollars per share)   $ 14.23
Options outstanding, stock option awards exercised (in shares)   (386)
Weighted average exercise price, stock option awards exercised (in dollars per share)   $ 3.61
Awards available, stock option awards cancelled (in shares)   122
Options outstanding, stock option awards cancelled (in shares)   (122)
Weighted average exercise price, stock option awards cancelled (in dollars per share)   $ 3.86
Awards available, ending balance (in shares) 1,113 1,113
Options outstanding, ending balance (in shares) 4,401 4,401
Weighted average exercise price, ending balance (in dollars per share) $ 5.64 $ 5.64