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Note 12 - Stock-based Compensation 1 (Tables) | 9 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2023 | Dec. 31, 2022
Notes Tables |  |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Number of Options |  |  | Weighted- Average Exercise Price |  |  | Weighted- Average Remaining Contractual Term (years) |  |  | Intrinsic Value (in thousands) |
Balance as of December 31, 2022 |  |  | 6,067,313 |  |  | $ | 1.83 |  |  |  | 2.07 |  |  |  |  |
Forfeited |  |  | (425,178 | ) |  |  | 3.98 |  |  |  |  |  |  |  |  |
Exercised |  |  | (186,307 | ) |  |  | 1.13 |  |  |  |  |  |  |  |  |
Expired |  |  | (177,430 | ) |  |  | 2.27 |  |  |  |  |  |  |  |  |
Outstanding at September 30, 2023 |  |  | 5,278,398 |  |  | $ | 1.61 |  |  |  | 1.78 |  |  | $ | 1,041 |
Exercisable at September 30, 2023 |  |  | 4,594,898 |  |  | $ | 1.40 |  |  |  | 1.71 |  |  | $ | 1,000 |
|  | Number of Options |  |  | Weighted-Average Exercise Price |  |  | Weighted-Average Remaining Contractual Term (years) |  |  | Intrinsic Value (in thousands) |
Balance as of December 31, 2021 |  |  | 6,864,563 |  |  | $ | 2.05 |  |  |  | 2.36 |  |  |  |  |
Granted |  |  | — |  |  |  | — |  |  |  |  |  |  |  |  |
Forfeited |  |  | (574,299 | ) |  |  | 4.56 |  |  |  |  |  |  |  |  |
Exercised |  |  | (102,825 | ) |  |  | 1.12 |  |  |  |  |  |  |  |  |
Expired |  |  | (120,126 | ) |  |  | 2.60 |  |  |  |  |  |  |  |  |
Outstanding at December 31, 2022 |  |  | 6,067,313 |  |  | $ | 1.83 |  |  |  | 2.07 |  |  | $ | 10,818 |
Exercisable at December 31, 2022 |  |  | 4,449,152 |  |  | $ | 1.31 |  |  |  | 1.92 |  |  | $ | 8,832 |
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] |
|  | Number of RSUs |  |  | Intrinsic value (in thousands) |
Outstanding unvested RSUs at December 31, 2022 |  |  | 1,459,280 |  |  |  |  |
Granted during the year |  |  | 3,369,167 |  |  |  |  |
Forfeited during the year |  |  | (559,809 | ) |  |  |  |
Vested during the year |  |  | (494,287 | ) |  |  |  |
Outstanding unvested RSUs at September 30, 2023 |  |  | 3,774,351 |  |  | $ | 4,416 |
|  | Number of RSUs |  |  | Intrinsic Value (in thousands) |
Outstanding unvested RSUs at December 31, 2021 |  |  | — |  |  |  |  |
Granted during the year |  |  | 1,640,496 |  |  |  |  |
Forfeited during the year |  |  | (60,823 | ) |  |  |  |
Vested during the year |  |  | (120,393 | ) |  |  |  |
Expired during the year |  |  | — |  |  |  |  |
Outstanding unvested RSUs at December 31, 2022 |  |  | 1,459,280 |  |  | $ | 1,940 |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | Three Months Ended September 30, |  |  | Nine Months Ended September 30, |
|  | 2023 |  |  | 2022 |  |  | 2023 |  |  | 2022 |
General and administrative expenses |  | $ | 884 |  |  | $ | 554 |  |  | $ | 2,714 |  |  | $ | 2,240 |
Research and development expenses |  |  | 312 |  |  |  | 781 |  |  |  | 933 |  |  |  | 1,753 |
Other operating expenses |  |  | 218 |  |  |  | 804 |  |  |  | 607 |  |  |  | 2,631 |
Total |  | $ | 1,414 |  |  | $ | 2,139 |  |  | $ | 4,254 |  |  | $ | 6,624 |
|  | Year Ended December 31, |
|  | 2022 |  |  | 2021 |  |  | 2020 |
General and administrative expenses |  | $ | 2,406 |  |  | $ | 5,274 |  |  | $ | 1,235 |
Research and development |  |  | 3,631 |  |  |  | 1,968 |  |  |  | 382 |
Other operating expenses |  |  | 2,331 |  |  |  | 3,639 |  |  |  | 115 |
Total |  | $ | 8,368 |  |  | $ | 10,881 |  |  | $ | 1,732 |

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- Definition Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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