Note 16 - Stockholders Equity - Stock Options Outstanding and Exercisable (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Options outstanding, number (in shares)	12,741,394
Options outstanding, weighted average remaining contractual term (Year)	8 years 2 months 23 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 1.67
Options exercisable (in shares)		3,376,223
Options exercisable, weighted average remaining contractual term (Year)		5 years 4 months 28 days
Options exercisable, weighted average exercise price (in dollars per share)		$ 3.78
Range One [Member]
Exercise price range, lower limit (in dollars per share)	0.21
Exercise price range, upper limit (in dollars per share)	$ 3.64
Options outstanding, number (in shares)	11,915,903
Options outstanding, weighted average remaining contractual term (Year)	8 years 5 months 19 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 1.26
Options exercisable (in shares)		2,586,015
Options exercisable, weighted average remaining contractual term (Year)		5 years 7 months 20 days
Options exercisable, weighted average exercise price (in dollars per share)		$ 2.58
Range Two [Member]
Exercise price range, lower limit (in dollars per share)	4.26
Exercise price range, upper limit (in dollars per share)	$ 7.95
Options outstanding, number (in shares)	783,523
Options outstanding, weighted average remaining contractual term (Year)	4 years 8 months 15 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 6.68
Options exercisable (in shares)		748,243
Options exercisable, weighted average remaining contractual term (Year)		4 years 7 months 13 days
Options exercisable, weighted average exercise price (in dollars per share)		$ 6.70
Range Three [Member]
Exercise price range, lower limit (in dollars per share)	12.45
Exercise price range, upper limit (in dollars per share)	$ 25.50
Options outstanding, number (in shares)	24,277
Options outstanding, weighted average remaining contractual term (Year)	5 years 9 months
Options outstanding, weighted average exercise price (in dollars per share)	$ 18.06
Options exercisable (in shares)		24,274
Options exercisable, weighted average remaining contractual term (Year)		5 years 9 months
Options exercisable, weighted average exercise price (in dollars per share)		$ 18.06
Range Four [Member]
Exercise price range, lower limit (in dollars per share)	27.00
Exercise price range, upper limit (in dollars per share)	$ 29.25
Options outstanding, number (in shares)	9,752
Options outstanding, weighted average remaining contractual term (Year)	2 years 3 months 18 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 27.01
Options exercisable (in shares)		9,752
Options exercisable, weighted average remaining contractual term (Year)		2 years 3 months 18 days
Options exercisable, weighted average exercise price (in dollars per share)		$ 27.01
Range Five [Member]
Exercise price range, lower limit (in dollars per share)	36.00
Exercise price range, upper limit (in dollars per share)	$ 63.90
Options outstanding, number (in shares)	7,939
Options outstanding, weighted average remaining contractual term (Year)	4 years 10 months 24 days
Options outstanding, weighted average exercise price (in dollars per share)	$ 45.65
Options exercisable (in shares)		7,939
Options exercisable, weighted average remaining contractual term (Year)		4 years 10 months 24 days
Options exercisable, weighted average exercise price (in dollars per share)		$ 45.65