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Note 7 - Stockholders' Equity and Stock-based Compensation Expense - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Total stock-based compensation expense | $ 949 | $ 469 | $ 2,457 | $ 1,450
Research and Development Expense [Member] |  |  |  |
Total stock-based compensation expense | 405 | 399 | 1,186 | 1,234
General and Administrative Expense [Member] |  |  |  |
Total stock-based compensation expense | $ 544 | $ 70 | $ 1,271 | $ 216

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