Consolidated Balance Sheets (Parentheticals) - $ / shares shares in Thousands	Dec. 31, 2023	Dec. 31, 2022
Stockholders' equity:
Convertible preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001
Convertible preferred stock, authorized (in shares)	10,000	10,000
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, authorized (in shares)	142,857	142,857
Common stock, issued (in shares)	18,064	17,226
Common stock, outstanding (in shares)	18,064	17,226