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Note 14 - Equity Incentive Plan - Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Outstanding, shares (in shares) 1,175,993    
Outstanding, Weighted Average Exercise (in dollars per share) $ 39.56    
Granted, shares (in shares) 553,827    
Granted, Weighted Average Exercise Price (in dollars per share) $ 28.07    
Exercised, shares (in shares) (433)    
Exercised, Weighted Average Exercise Price (in dollars per share) $ 8.83    
Exercised, Aggregate Intrinsic Value $ 10 $ 300 $ 2,800
Forfeited and canceled, shares (in shares) (198,684)    
Forfeited and canceled, Weighted Average Exercise Price (in dollars per share) $ 43.24    
Outstanding, shares (in shares) 1,530,703 1,175,993  
Outstanding, Weighted Average Exercise Price (in dollars per share) $ 34.93    
Outstanding, Weighted Average Remaining Contractual Term (Year) 8 years 1 month 6 days    
Outstanding, Aggregate Intrinsic Value $ 1,050    
Vested, shares (in shares) 640,056    
Vested, Weighted Average Exercise Price (in dollars per share) $ 40.08    
Vested, Weighted Average Remaining Contractual Term (Year) 7 years 2 months 12 days    
Vested, Aggregate Intrinsic Value $ 12    
Vested and expected to vest, shares (in shares) 1,530,703    
Vested and expected to vest, Weighted Average Exercise Price (in dollars per share) $ 34.93    
Vested and expected to vest, Weighted Average Remaining Contractual Term (Year) 8 years 1 month 6 days    
Vested and expected to vest, Aggregate Intrinsic Value $ 1,050