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Note 10 - Commitments and Contingencies (Details Textual) - USD ($)
$ in Millions
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Long-Term Purchase Commitment, Termination Fee $ 25.8    
Development Milestones [Member] | License [Member]      
Accrued Liabilities $ 5.0 $ 0.3 $ 0.5