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Note 2 - Summary of Significant Accounting Policies (Details Textual)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Net Income (Loss), Including Portion Attributable to Noncontrolling Interest $ (21,948) $ (36,280) $ (68,208)  
Retained Earnings (Accumulated Deficit) (396,302) (375,276)    
Net Cash Provided by (Used in) Operating Activities (16,474) (28,151) $ (47,242)  
Net Current Assets 10,461      
Cash, Cash Equivalents, and Short-Term Investments 17,943      
Debt Securities, Available-for-sale, Allowance for Credit Loss, Ending Balance 0      
Accounts Receivable, Allowance for Credit Loss 0      
Impairment of Long-Lived Assets to be Disposed of $ 0 $ 0   $ 0
Number of Reportable Segments 2      
Depreciation of RMB Against U.S. Dollar, Percent 2.90% 8.20% 2.30%  
Cash Subsidies for Research and Development Expenses [Member]        
Government Assistance, Income, Increase (Decrease) $ 831