Note 10 - Equity Incentive Plans (Details Textual) - shares	9 Months Ended
Sep. 30, 2021	Jun. 09, 2021
Stock Incentive Plan 2010 [Member]
Common Stock, Capital Shares Reserved for Future Issuance (in shares)		22,980,074
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)	8,857,302
Employee Stock Purchase Plan [Member]
Common Stock, Capital Shares Reserved for Future Issuance (in shares)	190
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)	190
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent	85.00%
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares)	0

Aggregate number of common shares reserved for future issuance.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.29)
-URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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Purchase price of common stock expressed as a percentage of its fair value.

+ References

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Number of shares issued during the period as a result of an employee stock purchase plan.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 505
-SubTopic 10
-Section 50
-Paragraph 2
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-Publisher FASB
-Name Accounting Standards Codification
-Topic 505
-SubTopic 10
-Section S99
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