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Note 12 - Income Taxes (Details Textual) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Income Tax Expense (Benefit) | $ 0 | $ 0
Deferred Tax Liabilities, Net, Total | 0 | 0
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount | 2,700 | 2,900
Unrecognized Tax Benefits that Would Impact Effective Tax Rate | 1,200 | $ 1,100
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] |  |
Operating Loss Carryforwards | 113,500 |
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] | Research Tax Credit Carryforward [Member] |  |
Tax Credit Carryforward, Amount | 3,900 |
State and Local Jurisdiction [Member] |  |
Operating Loss Carryforwards | 65,200 |
State and Local Jurisdiction [Member] | Research Tax Credit Carryforward [Member] |  |
Tax Credit Carryforward, Amount | $ 2,800 |

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