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Note 11 - Equity Incentive Plan - Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Outstanding, shares (in shares) 1,175,993  
Outstanding, Weighted Average Exercise (in dollars per share) $ 39.56  
Granted, shares (in shares) 416,197  
Granted, Weighted Average Exercise Price (in dollars per share) $ 28.37 $ 34.07
Exercised, shares (in shares) (437)  
Exercised, Weighted Average Exercise Price (in dollars per share) $ 9.10  
Exercised, Aggregate Intrinsic Value $ 10  
Forfeited and canceled, shares (in shares) (47,858)  
Forfeited and canceled, Weighted Average Exercise Price (in dollars per share) $ 38.23  
Outstanding, shares (in shares) 1,543,895  
Outstanding, Weighted Average Exercise Price (in dollars per share) $ 36.59  
Outstanding, Weighted Average Remaining Contractual Term (Year) 8 years 7 months 6 days  
Outstanding, Aggregate Intrinsic Value $ 9  
Vested, shares (in shares) 485,869  
Vested, Weighted Average Exercise Price (in dollars per share) $ 41.89  
Vested, Weighted Average Remaining Contractual Term (Year) 7 years 6 months  
Vested, Aggregate Intrinsic Value $ 9  
Vested and expected to vest, shares (in shares) 1,543,895  
Vested and expected to vest, Weighted Average Exercise Price (in dollars per share) $ 36.59  
Vested and expected to vest, Weighted Average Remaining Contractual Term (Year) 8 years 7 months 6 days  
Vested and expected to vest, Aggregate Intrinsic Value $ 9