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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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