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Note 11 - Common Stock and Stock-based Compensation Plans (Details Textual) - USD ($) $ in Thousands |  |  | 3 Months Ended |
--- | --- | --- | --- | ---
Mar. 31, 2024 | Feb. 12, 2024 | Mar. 31, 2024 | Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number | 86,425 |  | 86,425 | 99,425
Chief Financial Officer [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded |  | 5,344 |  |
Chief Operating Officer [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded |  | 4,372 |  |
Chief Commercial Officer [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded |  | 3,609 |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $ 184 |  | $ 184 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  |  | 2 years 2 months 12 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% |  |
Restricted Stock Units (RSUs) [Member] | Employees [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period | 3 years |  |  |
Restricted Stock Units (RSUs) [Member] | Non-employee Director [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period | 2 years |  |  |
Restricted Stock Units (RSUs) [Member] | Non-employee Director [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period | 1 year |  |  |
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 16, 2025 [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  | 33.40% |  |
Short-Term Executive PSUs [Member] | Vesting on February 16, 2026 [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  | 33.30% |  |
Short-Term Executive PSUs [Member] | Vesting on February 16, 2027 [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  | 33.30% |  |
Short-Term Executive PSUs [Member] | Chief Executive Officer [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded, Percentage |  | 60.00% |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded |  | 29,986 |  |
Short-Term Executive PSUs [Member] | Chief Executive Officer [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% |  |
Short-Term Executive PSUs [Member] | Chief Executive Officer [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% |  |
Short-Term Executive PSUs [Member] | Chief Executive Officer [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% |  |
Short-Term Executive PSUs [Member] | CFO, COO, and CCO [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded, Percentage |  | 40.00% |  |
RSUs and PSUs [Member] |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $ 22,830 |  | $ 22,830 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  |  | 1 year 7 months 6 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  |  | 414,572 |
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 |  | 120.00% |  |
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 |  | 120.00% |  |
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 |  | 120.00% |  |
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% |  | 25.00% |
Share-based Compensation Arrangement by Share-based Payment Award, Remaining Vesting Period |  |  | 36 months |
The2011 Stock Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Non-employee Director [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] | Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 33,318 |  |
The2011 Stock Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Chief Financial Officer [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 20,043 |  |
The2011 Stock Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Chief Operating Officer [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 16,399 |  |
The2011 Stock Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Chief Commercial Officer [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 13,535 |  |
The2011 Stock Incentive Plan [Member] | Performance Share Units [Member] | Chief Executive Officer [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 49,978 |  |
The2011 Stock Incentive Plan [Member] | Performance Share Units [Member] | Chief Financial Officer [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 13,362 |  |
The2011 Stock Incentive Plan [Member] | Performance Share Units [Member] | Chief Operating Officer [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 10,932 |  |
The2011 Stock Incentive Plan [Member] | Performance Share Units [Member] | Chief Commercial Officer [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 9,023 |  |
The2011 Stock Incentive Plan [Member] | Maximum [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period |  |  | 4 years |
Share-Based Payment Arrangement, Employee [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number | 0 |  | 0 | 0

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