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Note 8 - Notes Payable and Convertible Notes Payable - Schedule of Future Payments (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Future debt payments, net	$ 16,927	$ 16,915
The 2019 MD Loan [Member] | Notes Payable [Member]
2024 (remainder)	0
2025	0
2026	0
2027	0
2028	0
2029	0
Thereafter	500
Total debt principal payments	500
Accrued and unpaid interest	204
Less unamortized discount and debt issuance costs	0
Future debt payments, net	704
The 2019 Cecil Loan [Member] | Notes Payable [Member]
2024 (remainder)	0
2025	0
2026	0
2027	0
2028	0
2029	0
Thereafter	100
Total debt principal payments	100
Accrued and unpaid interest	40
Less unamortized discount and debt issuance costs	0
Future debt payments, net	140	$ 138
The 2021 Avenue Loan [Member] | Notes Payable [Member]
2024 (remainder)	20,000
2025	0
2026	0
2027	0
2028	0
2029	0
Thereafter	0
Total debt principal payments	20,000
Accrued and unpaid interest	0
Less unamortized discount and debt issuance costs	(134)
Future debt payments, net	19,866
The 2022 MD Loan [Member] | Notes Payable [Member]
2024 (remainder)	0
2025	347
2026	369
2027	317
2028	0
2029	0
Thereafter	0
Total debt principal payments	1,033
Accrued and unpaid interest	50
Less unamortized discount and debt issuance costs	(20)
Future debt payments, net	1,063
The 2022 DHCD Loan [Member] | Notes Payable [Member]
2024 (remainder)	0
2025	0
2026	0
2027	0
2028	5,000
2029	0
Thereafter	0
Total debt principal payments	5,000
Accrued and unpaid interest	388
Less unamortized discount and debt issuance costs	(47)
Future debt payments, net	$ 5,341

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