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Note 10 - Stock-based Compensation - Stock Plan Activities (Details)
 3 Months Ended
Mar. 31, 2022
$ / shares
shares
Options outstanding, stock option awards exercised (in shares) (1,108)
Incentive Plan [Member]  
Awards available, beginning balance (in shares) 3,651,000
Options outstanding, beginning balance (in shares) 28,685,000
Weighted average exercise price, beginning balance (in dollars per share) | $ / shares $ 7.90
Awards available, Restricted stock awards granted (in shares) (391,000)
Awards available, Restricted stock unit awards cancelled (in shares) 40,000
Awards available, stock option awards granted (in shares) (109,000)
Options outstanding, stock option awards granted (in shares) 109,000
Weighted average exercise price, stock option awards granted (in dollars per share) | $ / shares $ 16.49
Options outstanding, stock option awards exercised (in shares) (1,033,000)
Weighted average exercise price, stock option awards exercised (in dollars per share) | $ / shares $ 5.83
Awards available, stock option awards cancelled (in shares) 369,000
Options outstanding, stock option awards cancelled (in shares) (369,000)
Weighted average exercise price, stock option awards cancelled (in dollars per share) | $ / shares $ 11.22
Awards available, ending balance (in shares) 3,560,000
Options outstanding, ending balance (in shares) 27,392,000
Weighted average exercise price, ending balance (in dollars per share) | $ / shares $ 7.96
Inducement Plan [Member]  
Awards available, beginning balance (in shares) 900,000
Options outstanding, beginning balance (in shares) 4,408,000
Weighted average exercise price, beginning balance (in dollars per share) | $ / shares $ 6.20
Awards available, Restricted stock awards granted (in shares) (134,000)
Awards available, stock option awards granted (in shares) (566,000)
Options outstanding, stock option awards granted (in shares) 566,000
Weighted average exercise price, stock option awards granted (in dollars per share) | $ / shares $ 16.10
Options outstanding, stock option awards exercised (in shares) (51,000)
Weighted average exercise price, stock option awards exercised (in dollars per share) | $ / shares $ 3.22
Awards available, stock option awards cancelled (in shares) 58,000
Options outstanding, stock option awards cancelled (in shares) (58,000)
Weighted average exercise price, stock option awards cancelled (in dollars per share) | $ / shares $ 6.29
Awards available, ending balance (in shares) 258,000
Options outstanding, ending balance (in shares) 4,865,000
Weighted average exercise price, ending balance (in dollars per share) | $ / shares $ 7.42