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Note 2 - Summary of Significant Accounting Policies - Calculation of Net Loss Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Net loss $ (97,217) $ (76,246) $ (32,385)
Shares used in computing net loss per share, basic and diluted (in shares) 41,932 40,202 39,405
Net loss per share, basic and diluted (in dollars per share) $ (2.32) $ (1.9) $ (0.82)
Share-Based Payment Arrangement, Option [Member]      
Dilutive securities excluded from net loss per share, diluted (in shares) 2,123 2,055 2,211