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Note 7 - Stockholders' Equity and Stock-based Compensation Expense (Details Textual) - USD ($) |  |  |  | 3 Months Ended | 9 Months Ended | 37 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Oct. 01, 2023 | Nov. 22, 2022 | May 05, 2022 | Sep. 30, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Apr. 26, 2023 | May 01, 2023 | Dec. 31, 2022 | Mar. 31, 2020
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price (in dollars per share) |  |  |  | $ 13.71 | $ 13.71 |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term (Year) |  |  |  |  | 2 years 3 months 18 days |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  |  |  | $ 8,000,000 | $ 8,000,000 |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period (in shares) |  |  |  | 214,124 | 495,299 |  |  |  |  |
Proceeds from Stock Options Exercised |  |  |  | $ 464,000 | $ 1,417,000 | $ 466,000 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  |  |  | 132,000 |  |  |  |  |
Common Stock, Par or Stated Value Per Share (in dollars per share) |  |  |  | $ 0.001 | $ 0.001 |  |  |  | $ 0.001 |
The 2018 Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) |  |  | 10 years |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) |  |  | 5,000,000 |  |  |  |  |  |  |
Common Stock, Par or Stated Value Per Share (in dollars per share) |  |  | $ 0.001 |  |  |  |  |  |  |
Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) | 800,000 |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) | $ 17.54 |  |  |  |  |  |  |  |  |
Performance Shares [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount |  |  |  | $ 100,000 | $ 100,000 |  |  |  |  |
Stock Options Net Settled in Satisfaction of the Exercise Price [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period (in shares) |  |  |  | 3,853 | 101,058 |  |  |  |  |
Proceeds from Stock Options Exercised |  |  |  | $ 0 | $ 0 |  |  |  |  |
The 2022 Registered Direct Offering [Member] |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) |  | 1,666,667 |  |  |  |  |  |  |  |
Shares Issued, Price Per Share (in dollars per share) |  | $ 30 |  |  |  |  |  |  |  |
Proceeds from Issuance of Common Stock |  | $ 47,300,000 |  |  |  |  |  |  |  |
At-the-market Common Stock Offering [Member] |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) |  |  |  | 0 | 0 |  | 0 |  |  |
Equity Offering, Maximum Amount |  |  |  |  |  |  |  | $ 200,000,000 |  | $ 100,000,000
Equity Offering, Percentage of Commission |  |  |  |  |  |  |  | 3.00% |  |

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