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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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