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Note 12 - Common Stock and Stock-based Compensation Plans (Unaudited) (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Feb. 17, 2023
Feb. 14, 2023
Jan. 01, 2023
Nov. 09, 2022
Feb. 14, 2022
Feb. 18, 2021
Feb. 16, 2021
Sep. 30, 2023
Dec. 31, 2021
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jun. 30, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares)               99,425           106,000 [1],[2]
Share-Based Payment Arrangement, Option [Member]                            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount               $ 212            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)               2 years 4 months 24 days            
Restricted Stock Units (RSUs) [Member] | Vesting on February 17, 2024 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 33.40%                          
Restricted Stock Units (RSUs) [Member] | Vesting on February 17, 2025 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 33.30%                          
Restricted Stock Units (RSUs) [Member] | Vesting on February 17, 2026 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 33.30%                          
Short-Term Executive PSUs [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded, Percentage         30.00% 20.00%                
Short-Term Executive PSUs [Member] | Goals One [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage   90.00%                        
Short-Term Executive PSUs [Member] | Goals One [Member] | Full Vesting Based on The Achievement of 2022 License Target [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   50.00%                        
Short-Term Executive PSUs [Member] | Goals One [Member] | Increase in Eligible PSUs, Percent [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage         2.00%                  
Short-Term Executive PSUs [Member] | Goals Two [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         25.00%                  
Short-Term Executive PSUs [Member] | Goals Two [Member] | Increase in Eligible PSUs, Percent [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage         2.00%                  
Short-Term Executive PSUs [Member] | Goals Two [Member] | Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         25.00%                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         90.00%                  
Short-Term Executive PSUs [Member] | Goals Two [Member] | Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         100.00%                  
Short-Term Executive PSUs [Member] | Goals Three [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   25.00%                        
Short-Term Executive PSUs [Member] | Goals Three [Member] | Increase in Eligible PSUs, Percent [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage         2.00%                  
Short-Term Executive PSUs [Member] | Goals Three [Member] | Full Vesting Based on The Achievement of Positive Shareholder Return [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage   25.00%                        
Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         90.00%                  
Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return In Excess of 100 Percent of Russel 2000 Index [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         100.00%                  
Short-Term Executive PSUs [Member] | Vesting on February 20, 2021 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage                 33.40%          
Short-Term Executive PSUs [Member] | Vesting on February 22, 2022 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage                 33.30%          
Short-Term Executive PSUs [Member] | Vesting on February 20, 2023 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage                 33.30%          
Long-term PSUs [Member]                            
Share-based Payment Arrangement, Vesting Requirements, Annual Growth Rate, Percentage of Three Year Non-GAAP EPS   10.00%                        
Share-based Payment Arrangement, Vesting Requirements, Minimum Non-GAAP EPS (in dollars per share)   $ 1                        
Share-based Payment Arrangement, Vesting Requirements, Percentage of Non-GAAP Operating Margin   20.00%                        
Share-based Payment Arrangement, Vesting Requirements, Percentage of Annual Growth Rate for Revenue   10.00%                        
Share-based Payment Arrangement, Vesting Requirements, Minimum Revenue   $ 180,000                        
Share-based Payment Arrangement, Vesting Requirements, Minimum Market Capitalization for 30 Consecutive Trading Days   $ 1,100,000                        
RSUs and PSUs [Member]                            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount               $ 25,733            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)               1 year 6 months            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)               339,329            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)               880,053            
Non-employee Director [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Options, Annual Vesting, Percentage               25.00%            
Non-employee Director [Member] | Restricted Stock Units (RSUs) [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)                     2 years 1 year    
Employees [Member] | Restricted Stock Units (RSUs) [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)                   3 years        
Chief Executive Officer [Member] | Restricted Stock Units (RSUs) [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)       34,887                    
Chief Executive Officer [Member] | Short-Term Executive PSUs [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)         6,543                  
Chief Executive Officer [Member] | Short-Term Executive PSUs [Member] | Goals One [Member] | Increase in Eligible PSUs, Percent [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage         3.00%                  
Chief Executive Officer [Member] | Short-Term Executive PSUs [Member] | Goals Two [Member] | Increase in Eligible PSUs, Percent [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage         3.00%                  
Chief Executive Officer [Member] | Short-Term Executive PSUs [Member] | Goals Three [Member] | Increase in Eligible PSUs, Percent [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage         3.00%                  
Chief Executive Officer [Member] | Long-term PSUs [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   60,587                        
Chief Commercial Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)         727                  
Chief Commercial Officer [Member] | Long-term PSUs [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   30,293                        
Chief Financial Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)         1,332                  
Chief Financial Officer [Member] | Long-term PSUs [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   30,293                        
Chief Operating Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares)         1,090                  
Chief Operating Officer [Member] | Long-term PSUs [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   30,293                        
Maximum [Member] | Short-Term Executive PSUs [Member] | Goals One [Member] | Vesting Based on Achievement In Excess of 90 Percent [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         99.00%                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         99.00%                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage         110.00%                  
Maximum [Member] | Short-Term Executive PSUs [Member] | Goals Two [Member] | Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         99.00%                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         99.00%                  
Maximum [Member] | Short-Term Executive PSUs [Member] | Goals Two [Member] | Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage         110.00%                  
Maximum [Member] | Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         99.00%                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         99.00%                  
Maximum [Member] | Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return In Excess of 100 Percent of Russel 2000 Index [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage         110.00%                  
Minimum [Member] | Short-Term Executive PSUs [Member] | Goals One [Member] | Vesting Based on Achievement In Excess of 90 Percent [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         91.00%                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage         1.00%                  
Minimum [Member] | Short-Term Executive PSUs [Member] | Goals Two [Member] | Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         91.00%                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         90.00%                  
Minimum [Member] | Short-Term Executive PSUs [Member] | Goals Two [Member] | Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage         1.00%                  
Minimum [Member] | Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         91.00%                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage         90.00%                  
Minimum [Member] | Short-Term Executive PSUs [Member] | Goals Three [Member] | Vesting Based on Actual Return In Excess of 100 Percent of Russel 2000 Index [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage         1.00%                  
The2011 Stock Incentive Plan [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights Vesting Percentage, Year One               25.00%            
Share-based Compensation Arrangement by Share-based Payment Award, Remaining Vesting Period (Month)               36 months            
The2011 Stock Incentive Plan [Member] | Non-employee Director [Member] | Restricted Stock Units (RSUs) [Member] | Vesting After the First Anniversary Grant Date [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             50.00%              
The2011 Stock Incentive Plan [Member] | Chief Executive Officer [Member] | Restricted Stock Units (RSUs) [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, Equity Instruments Other than Options, Grants in Period (in shares)   14,541 46,911                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Fair Value     $ 1,200                      
The2011 Stock Incentive Plan [Member] | Chief Executive Officer [Member] | Performance Share Units [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   21,811                        
The2011 Stock Incentive Plan [Member] | Chief Commercial Officer [Member] | Restricted Stock Units (RSUs) [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, Equity Instruments Other than Options, Grants in Period (in shares)   5,452 3,909                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Fair Value     $ 100                      
The2011 Stock Incentive Plan [Member] | Chief Commercial Officer [Member] | Performance Share Units [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   3,635                        
The2011 Stock Incentive Plan [Member] | Chief Financial Officer [Member] | Restricted Stock Units (RSUs) [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   9,996                        
The2011 Stock Incentive Plan [Member] | Chief Financial Officer [Member] | Performance Share Units [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   6,664                        
The2011 Stock Incentive Plan [Member] | Chief Operating Officer [Member] | Restricted Stock Units (RSUs) [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   8,179                        
The2011 Stock Incentive Plan [Member] | Chief Operating Officer [Member] | Performance Share Units [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   5,452                        
The2011 Stock Incentive Plan [Member] | Maximum [Member]                            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)               4 years            
Share-Based Payment Arrangement, Employee [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares)                         0 0
[1] Represent options granted to non-employee directors of the Company only. As of December 31, 2022, there were no outstanding or exercisable SAR units left and no outstanding or exercisable options granted to employees left.
[2] The SAR units are convertible for a maximum number of shares of the Company’s common stock equal to 75% of the SAR units subject to the grant.