Note 13 - Income Taxes - Schedule of Income Tax Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Tax computed at the federal statutory rate	$ (6,045)	$ (12,540)	$ (15,830)
State taxes	(1,072)	(2,304)	(2,453)
Foreign taxes	247	83	0
Permanent items	22,689	13,660	21,834
R&D credits	(3,941)	(5,231)	(14,946)
Prior year adjustment	916	(2,116)	(2,792)
Change in valuation allowance	(12,470)	8,655	14,240
Total provision	$ 324	$ 207	$ 53