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Note 12 - Loss Per Common Share - Calculation of Basic and Diluted Loss Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Numerator                
Net loss $ (15,081) $ (12,617) $ (23,886) $ (27,791) $ (34,245) $ (85,978) $ (51,583) $ (148,014)
Denominator                
Basic and diluted weighted average common shares (in shares) [1] 38,066     37,691     37,957 37,659
Loss per common share:                
Basic and diluted (in dollars per share) $ (0.40)     $ (0.74)     $ (1.36) $ (3.93)
Approximate number of unvested restricted stock units and stock to be issued pursuant to the ESPP that have been excluded from the computation of diluted loss per share as the effect would be anti-dilutive when results from operations are at a net loss position. (in shares) 259     184     239 175
[1] Approximate number of unvested restricted stock units and stock to be issued pursuant to the ESPP that have been excluded from the computation of diluted loss per share as the effect would be anti-dilutive when results from operations are at a net loss position.