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Note 9 - Stock-based Compensation - Schedule of Share-based Payment Award (Details) - $ / shares
shares in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Balance, outstanding (in shares) 4,694  
Balance, Weighted-Average Exercise Price (in dollars per share) $ 4.63  
Balance, outstanding (in shares) 5,526 4,694
Balance, Weighted-Average Exercise Price (in dollars per share) $ 4.42 $ 4.63
The 2019 Stock Plan [Member]    
Balance, Shares Available for Grant (in shares) 65 42
Balance, outstanding (in shares) 4,694 3,763
Balance, Weighted-Average Exercise Price (in dollars per share) $ 4.63 $ 2.29
Authorized, shares (in shares) 1,644 1,338
Options Granted, shares (in shares) (1,278) (1,307)
Options Granted, shares (in shares) 1,278 1,307
Options Granted, Weighted-Average Exercise Price (in dollars per share) $ 3.6 $ 10.97
RSAs Granted, shares (in shares) (244)  
Exercised, outstanding (in shares) (177) (295)
Exercised, Weighted-Average Exercise Price (in dollars per share) $ 1.83 $ 0.93
Forfeited/expired, shares available (in shares) 269 81
Forfeited/expired, outstanding (in shares) (269) (81)
Forfeited/expired, Weighted-Average Exercise Price (in dollars per share) $ 5.93 $ 11.63
Balance, Shares Available for Grant (in shares) 456 65
Balance, outstanding (in shares) 5,526 4,694
Balance, Weighted-Average Exercise Price (in dollars per share) $ 4.42 $ 4.63
The 2019 Stock Plan [Member] | Restricted Stock [Member]    
RSAs Granted, shares (in shares)   (89)