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Note 15 - Share-based Compensation (Details Textual) - USD ($)
$ in Millions
1 Months Ended 6 Months Ended
Jun. 08, 2022
Jun. 07, 2021
Jun. 08, 2020
Oct. 12, 2018
Jan. 01, 2018
Dec. 31, 2021
Jun. 30, 2023
May 31, 2019
Mar. 31, 2017
Common Stock, Capital Shares Reserved for Future Issuance (in shares)             3,493,724    
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)             941,759    
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount             $ 12.6    
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)             2 years    
Share-Based Payment Arrangement, Option [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)             2 years    
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche One [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             33.00%    
Restricted Stock Units (RSUs) [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)             2 years    
Restricted Stock Units (RSUs) [Member] | Share-Based Payment Arrangement, Tranche One [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             33.00%    
Share Option Plan [Member] | Share-Based Payment Arrangement, Option [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)             3 years    
Share-based Compensation Arrangement By Share-based Payment Award, Individual Voting Powers, Percentage             10.00%    
Two Thousand Seventeen Equity Incentive Plan [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) 4,750,167 4,350,167 3,950,167 3,550,167 1,650,167       1,400,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) 400,000 400,000 400,000 1,900,000 250,167        
The 2019 Inducement Plan [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)               900,000  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares)           300,000      
Maximum [Member] | Share Option Plan [Member] | Share-Based Payment Arrangement, Option [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)             10 years    
Minimum [Member] | Share Option Plan [Member] | Share-Based Payment Arrangement, Option [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent             100.00%    
Share-based Compensation Arrangement By Share-based Payment Award, Percentage of Purchase Price for Individuals Having More than Ten Percent of Combined Voting Power             110.00%