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Note 16 - Income Taxes (Details Textual) - USD ($)
Pure in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Effective Income Tax Rate Reconciliation, Percent, Total 0.00% 0.00%
Deferred Tax Assets, Valuation Allowance $ 95,256 $ 83,000
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount 12,256  
Deferred Tax Assets, Operating Loss Carryforwards, Domestic 247,472  
Deferred Tax Assets, Operating Loss Carryforwards, State and Local 178,519  
Deferred Tax Assets, Operating Loss Carryforwards, Foreign $ 68,925  
Federal Net Operating Loss Carryforwards, Expiration Period Minimum (Year) 5 years  
State Tax Credit Carry Forward, Expiration Period, Minimum (Year) 5 years  
Federal Tax Credit CarryForward, Expiration Period, Maximum (Year) 20 years  
State Tax Credit Carry Forward, Expiration Period, Maximum (Year) 20 years  
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense, Total $ 0 $ 0
Domestic Tax Authority [Member]    
Open Tax Year 2020 2021 2022  
Domestic Tax Authority [Member] | Research Tax Credit Carryforward [Member]    
Tax Credit Carryforward, Amount $ 13,469  
State and Local Jurisdiction [Member]    
Open Tax Year 2020 2021 2022  
State and Local Jurisdiction [Member] | Research Tax Credit Carryforward [Member]    
Tax Credit Carryforward, Amount $ 11,915  
Foreign Tax Authority [Member]    
Open Tax Year 2022