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Note 6 - Convertible Senior Notes - Schedule of Debt Interest Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Convertible Senior Notes 2023 [Member] |  |  |
Contractual interest expense | $ 5,195 | $ 5,938 | $ 5,938
Amortization of debt issuance costs | 619 | 663 | 618
Total interest expense | 5,814 | 6,601 | 6,556
Convertible Senior Notes 2026 [Member] |  |  |
Contractual interest expense | 11,774 | 11,814 | 11,814
Amortization of debt issuance costs | 1,355 | 1,167 | 1,078
Total interest expense | $ 13,129 | $ 12,981 | $ 12,892

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