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Note 6 - Convertible Senior Notes (Details Textual) $ / shares in Units, shares in Millions |  | 1 Months Ended | 2 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Nov. 15, 2023 USD ($) | Dec. 31, 2023 USD ($) $ / shares | Sep. 30, 2020 USD ($) | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Jan. 01, 2021 USD ($) | Dec. 31, 2020 USD ($) | Aug. 14, 2020 USD ($)
Equity, Attributable to Parent |  |  | $ (24,983,000) |  | $ (24,983,000) | $ 85,684,000 | $ 23,780,000 |  | $ (120,752,000) |
Repayments of Convertible Debt |  |  |  |  | 99,873,000 | (0) | (0) |  |  |
Gain (Loss) on Extinguishment of Debt |  |  |  |  | 4,112,000 | 0 | $ 0 |  |  |
Long-Term Debt, Gross |  |  | 215,924,000 |  | 215,924,000 | 320,030,000 |  |  |  |
Debt Issuance Costs, Net | [1] |  | 2,769,000 |  | $ 2,769,000 | 4,743,000 |  |  |  |
Convertible Senior Notes 2026 [Member] |  |  |  |  |  |  |  |  |  |
Repayments of Convertible Debt |  |  | 9,100,000 |  |  |  |  |  |  |
Gain (Loss) on Extinguishment of Debt |  |  | $ 4,100,000 |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  | 5.25% | 5.25% | 5.25% |  |  |  |  |
Long-Term Debt, Gross |  |  | $ 215,924,000 |  | $ 215,924,000 | 225,030,000 |  |  |  |
Debt Instrument, Convertible, Conversion Ratio |  |  |  |  | 54.0906 |  |  |  |  |
Debt Instrument, Convertible Debt, Denominator Amount |  |  | $ 1,000 |  | $ 1,000 |  |  |  |  |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | $ / shares |  |  | $ 18.4875 |  | $ 18.4875 |  |  |  |  |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | shares |  |  |  |  | 12.2 |  |  |  |  |
Debt Instrument, Convertible, Fair Value Amount of Equity Component |  |  |  | $ 23,200,000 |  |  |  |  |  |
Debt Issuance Costs, Net | [1] |  | $ 2,769,000 |  | $ 2,769,000 | $ 4,124,000 |  |  |  |
Debt Instrument, Interest Rate, Effective Percentage |  |  |  |  |  | 5.90% |  |  |  |
Convertible Senior Notes 2026 [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | $ / shares |  |  | $ 18.49 |  | $ 18.49 |  |  |  |  |
Convertible Senior Notes 2026 [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | $ / shares |  |  | $ 26.1 |  | $ 26.1 |  |  |  |  |
Convertible Senior Notes 2026 [Member] | Debt Conversion After September 30, 2020 [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Percentage of Stock Price Trigger |  |  |  | 130.00% |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Sale Price Of Common Stock Conversion Rate Product Percentage Maximum |  |  |  | 98.00% |  |  |  |  |  |
Convertible Senior Notes 2026 [Member] | Debt Conversion On Or After August 15, 2023 [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Convertible, Threshold Percentage of Stock Price Trigger |  |  |  | 130.00% |  |  |  |  |  |
Convertible Senior Notes 2023 [Member] |  |  |  |  |  |  |  |  |  |
Extinguishment of Debt, Amount |  | $ 95,000,000 |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  | 6.25% |  | 6.25% |  |  |  |  |
Long-Term Debt, Gross |  |  | $ 95,000,000 |  | $ 95,000,000 | $ 95,000,000 |  |  |  | $ 95,000,000
Debt Issuance Costs, Net | [1] |  |  |  |  | $ 619,000 |  |  |  |
Cumulative Effect, Period of Adoption, Adjustment [Member] | Accounting Standards Update 2020-06 [Member] |  |  |  |  |  |  |  |  |  |
Equity, Attributable to Parent |  |  |  |  |  |  |  | $ 75,500,000 | $ (75,474,000) |
[1] | The fair value is classified as Level 3 due to the limited trading activity for the convertible senior notes.

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