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Note 7 - Stockholders' Equity and Stock-based Compensation Expense (Details Textual) - USD ($) |  |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Nov. 22, 2022 | May 05, 2022 | Feb. 12, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | May 01, 2023 | Mar. 31, 2020
Proceeds from Issuance of Common Stock |  |  |  | $ 0 | $ 47,329,000 | $ 189,825,000 |  |
Common Stock, Par or Stated Value Per Share (in dollars per share) |  |  |  | $ 0.001 | $ 0.001 |  |  |
Stock Options Exercised Net Settled Satisfaction Of Exercise Price (in shares) |  |  |  | 101,058 |  |  |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Dividend Rate |  |  |  | 0.00% | 0.00% | 0.00% |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  |  |  | $ 24,200,000 |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 2 years 9 months 18 days |  |  |  |
Performance Shares [Member] |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount |  |  |  |  | $ 101,000 |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Expirations (in shares) |  |  |  |  | 57,143 |  |  |
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 |  |  |  |  |  |
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 |  |  |  |  |  |  |
The 2021 Registered Direct Offering [Member] |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) |  |  | 4,081,633 |  |  |  |  |
Shares Issued, Price Per Share (in dollars per share) |  |  | $ 49 |  |  |  |  |
Proceeds from Issuance of Common Stock |  |  | $ 189,800,000 |  |  |  |  |
At-the-market Common Stock Offering [Member] |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) |  |  |  | 0 |  |  |  |
Equity Offering, Maximum Amount |  |  |  |  |  |  | $ 200,000,000 | $ 100,000,000
Equity Offering, Percentage of Commission |  |  |  |  |  |  | 3.00% |

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