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Note 12 - Stock-based Compensation - Schedule of Stock-based Compensation Expense 1 (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-Based Payment Arrangement, Expense | $ 1,414 | $ 2,139 | $ 4,254 | $ 6,624 | $ 8,368 | $ 10,881 | $ 1,732
General and Administrative Expense [Member] |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense | 884 | 554 | 2,714 | 2,240 | 2,406 | 5,274 | 1,235
Research and Development Expense [Member] |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense | 312 | 781 | 933 | 1,753 | 3,631 | 1,968 | 382
Other Operating Income (Expense) [Member] |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense | $ 218 | $ 804 | $ 607 | $ 2,631 | $ 2,331 | $ 3,639 | $ 115

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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