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Note 2 - Significant Accounting Policies - Calculation of Net Loss Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Net loss $ (25,651) $ (26,376) $ (24,271) $ (20,257) $ (19,328) $ (17,527) $ (76,298) $ (57,112)
Shares used in computing net loss per share, basic and diluted (in shares) 42,002     40,050     41,845 40,009
Net loss per share, basic and diluted (in dollars per share) $ (0.61)     $ (0.51)     $ (1.82) $ (1.43)
Share-Based Payment Arrangement, Option [Member]                
Dilutive common stock options excluded from net loss per share, diluted (in shares) 1,780     1,946     1,938 2,064