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Note 6 - Fair Value Measurements - Assets and Liabilities Measured at Fair Value on a Recurring Basis (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Fair value	$ 35,144
Money Market Funds [Member]
Cash equivalents, fair value	596
US Treasury and Government [Member]
Fair value	18,915
Corporate Debt Securities [Member]
Fair value	6,485
Certificates of Deposit [Member]
Fair value	7,733
Fair Value, Recurring [Member]
Fair value	35,144	$ 44,556
Total assets at fair value	35,740
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 1 [Member]
Fair value	18,915	28,693
Total assets at fair value	19,511
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 2 [Member]
Fair value	16,229	15,863
Total assets at fair value	16,229
Fair Value, Recurring [Member] | Money Market Funds [Member]
Cash equivalents, fair value	596
Fair Value, Recurring [Member] | Money Market Funds [Member] | Fair Value, Inputs, Level 1 [Member]
Cash equivalents, fair value	596
Fair Value, Recurring [Member] | Money Market Funds [Member] | Fair Value, Inputs, Level 2 [Member]
Cash equivalents, fair value	0
Fair Value, Recurring [Member] | Commercial Paper [Member]
Cash equivalents, fair value	2,011
Fair Value, Recurring [Member] | Commercial Paper [Member] | Fair Value, Inputs, Level 1 [Member]
Cash equivalents, fair value	0
Fair Value, Recurring [Member] | Commercial Paper [Member] | Fair Value, Inputs, Level 2 [Member]
Cash equivalents, fair value	2,011
Fair Value, Recurring [Member] | US Treasury and Government [Member]
Fair value	18,915	28,693
Fair Value, Recurring [Member] | US Treasury and Government [Member] | Fair Value, Inputs, Level 1 [Member]
Fair value	18,915	28,693
Fair Value, Recurring [Member] | US Treasury and Government [Member] | Fair Value, Inputs, Level 2 [Member]
Fair value	0	0
Fair Value, Recurring [Member] | Corporate Debt Securities [Member]
Fair value	6,485	2,387
Fair Value, Recurring [Member] | Corporate Debt Securities [Member] | Fair Value, Inputs, Level 1 [Member]
Fair value	0	0
Fair Value, Recurring [Member] | Corporate Debt Securities [Member] | Fair Value, Inputs, Level 2 [Member]
Fair value	6,485	2,387
Fair Value, Recurring [Member] | Commercial Paper, Not Included with Cash and Cash Equivalents [Member]
Fair value		9,392
Fair Value, Recurring [Member] | Commercial Paper, Not Included with Cash and Cash Equivalents [Member] | Fair Value, Inputs, Level 1 [Member]
Fair value		0
Fair Value, Recurring [Member] | Commercial Paper, Not Included with Cash and Cash Equivalents [Member] | Fair Value, Inputs, Level 2 [Member]
Fair value		9,392
Fair Value, Recurring [Member] | Certificates of Deposit [Member]
Fair value	7,733	4,084
Fair Value, Recurring [Member] | Certificates of Deposit [Member] | Fair Value, Inputs, Level 1 [Member]
Fair value	0	0
Fair Value, Recurring [Member] | Certificates of Deposit [Member] | Fair Value, Inputs, Level 2 [Member]
Fair value	$ 7,733	$ 4,084

X

- Definition

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+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482106/820-10-50-2

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- Definition

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+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 320
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (aa)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481800/320-10-50-2

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 320
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481830/320-10-45-1

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 942
-SubTopic 210
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.9-03(6))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479853/942-210-S99-1

Reference 4: http://www.xbrl.org/2003/role/disclosureRef
-Topic 326
-SubTopic 30
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479130/326-30-45-1

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+ References

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