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Note 11 - Equity Incentive Plan - Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Stock-based compensation expense | $ 2,259 | $ (207)
Cost of Sales [Member] |  |
Stock-based compensation expense | 129 | 146
Research and Development Expense [Member] |  |
Stock-based compensation expense | 241 | 196
Selling, General and Administrative Expenses [Member] |  |
Stock-based compensation expense | $ 1,889 | $ (549)

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