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Note 2 - Fair Value of Financial Instruments - Summary of Fair Value Hierarchy for Financial Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Assets, fair value	$ 23,088
Fair Value, Recurring [Member]
Assets, fair value	23,088	$ 50,396
Fair Value, Recurring [Member] | Money Market Securities [Member]
Assets, fair value	1,515	2,073
Fair Value, Recurring [Member] | Commercial Paper, Not Included with Cash and Cash Equivalents [Member]
Assets, fair value	14,622	35,468
Fair Value, Recurring [Member] | US Treasury Securities [Member]
Assets, fair value	5,953
Fair Value, Recurring [Member] | Corporate Debt Securities [Member]
Assets, fair value		4,423
Fair Value, Recurring [Member] | Federal Agency Notes [Member]
Assets, fair value	998	8,432
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 1 [Member]
Assets, fair value	1,515	2,073
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 1 [Member] | Money Market Securities [Member]
Assets, fair value	1,515	2,073
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 1 [Member] | Commercial Paper, Not Included with Cash and Cash Equivalents [Member]
Assets, fair value	0	0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 1 [Member] | US Treasury Securities [Member]
Assets, fair value	0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 1 [Member] | Corporate Debt Securities [Member]
Assets, fair value		0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 1 [Member] | Federal Agency Notes [Member]
Assets, fair value	0	0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 2 [Member]
Assets, fair value	21,573	48,323
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 2 [Member] | Money Market Securities [Member]
Assets, fair value	0	0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 2 [Member] | Commercial Paper, Not Included with Cash and Cash Equivalents [Member]
Assets, fair value	14,622	35,468
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 2 [Member] | US Treasury Securities [Member]
Assets, fair value	5,953
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 2 [Member] | Corporate Debt Securities [Member]
Assets, fair value		4,423
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 2 [Member] | Federal Agency Notes [Member]
Assets, fair value	998	8,432
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 3 [Member]
Assets, fair value	0	0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 3 [Member] | Money Market Securities [Member]
Assets, fair value	0	0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 3 [Member] | Commercial Paper, Not Included with Cash and Cash Equivalents [Member]
Assets, fair value	0	0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 3 [Member] | US Treasury Securities [Member]
Assets, fair value	0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 3 [Member] | Corporate Debt Securities [Member]
Assets, fair value		0
Fair Value, Recurring [Member] | Fair Value, Inputs, Level 3 [Member] | Federal Agency Notes [Member]
Assets, fair value	$ 0	$ 0

X

- Definition

Fair value portion of probable future economic benefits obtained or controlled by an entity as a result of past transactions or events.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482106/820-10-50-2

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