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Note 11 - Common Stock and Stock-based Compensation Plans (Details Textual) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Feb. 12, 2024
Jun. 30, 2024
Jun. 30, 2024
Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares) 84,025   84,025 84,025 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 $ 278   $ 278 $ 278  
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 $ 23,955   $ 23,955 $ 23,955  
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       693,378  
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% 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 (in shares) 0   0 0 0