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Note 7 - Stockholders' Equity and Stock-based Compensation Expense - Schedule of Stock Options by Exercise Price (Details)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Options outstanding (in shares) | shares 3,039,029
Options outstanding, weighted average contractual life (Year) 6 years 2 months 12 days
Options outstanding, weighted average exercise price (in dollars per share) $ 15.13
Options exercisable (in shares) | shares 1,836,174
Options exercisable, weighted average exercise price (in dollars per share) $ 11.09
Range One [Member]  
Options, exercise price, lower limit (in dollars per share) 0.95
Options, exercise price, upper limit (in dollars per share) $ 3.24
Options outstanding (in shares) | shares 804,834
Options outstanding, weighted average contractual life (Year) 4 years 9 months 18 days
Options outstanding, weighted average exercise price (in dollars per share) $ 2.17
Options exercisable (in shares) | shares 804,834
Options exercisable, weighted average exercise price (in dollars per share) $ 2.17
Range Two [Member]  
Options, exercise price, lower limit (in dollars per share) 4.09
Options, exercise price, upper limit (in dollars per share) $ 13.02
Options outstanding (in shares) | shares 656,230
Options outstanding, weighted average contractual life (Year) 2 years 10 months 24 days
Options outstanding, weighted average exercise price (in dollars per share) $ 8.33
Options exercisable (in shares) | shares 647,167
Options exercisable, weighted average exercise price (in dollars per share) $ 8.34
Range Three [Member]  
Options, exercise price, lower limit (in dollars per share) 14.21
Options, exercise price, upper limit (in dollars per share) $ 16.94
Options outstanding (in shares) | shares 62,634
Options outstanding, weighted average contractual life (Year) 1 year 10 months 24 days
Options outstanding, weighted average exercise price (in dollars per share) $ 16
Options exercisable (in shares) | shares 62,634
Options exercisable, weighted average exercise price (in dollars per share) $ 16
Range Four [Member]  
Options, exercise price, lower limit (in dollars per share) 17.54
Options, exercise price, upper limit (in dollars per share) $ 17.54
Options outstanding (in shares) | shares 800,000
Options outstanding, weighted average contractual life (Year) 9 years 9 months 18 days
Options outstanding, weighted average exercise price (in dollars per share) $ 17.54
Options exercisable (in shares) | shares 44,442
Options exercisable, weighted average exercise price (in dollars per share) $ 17.54
Range Five [Member]  
Options, exercise price, lower limit (in dollars per share) 21.11
Options, exercise price, upper limit (in dollars per share) $ 77
Options outstanding (in shares) | shares 715,331
Options outstanding, weighted average contractual life (Year) 7 years 2 months 12 days
Options outstanding, weighted average exercise price (in dollars per share) $ 33.2
Options exercisable (in shares) | shares 277,097
Options exercisable, weighted average exercise price (in dollars per share) $ 41.29