Note 16 - Income Taxes - Components of Deferred Tax Assets and Deferred Tax Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Federal and state net operating losses	$ 74,270	$ 55,481
Federal and state research and experimentation credits	10,869	9,789
Research and experimental costs	4,837	0
ASC 842 - lease liabilities	1,508	393
Stock based compensation	482	217
Deferred social security tax	0	116
Fixed asset differences	87	0
Intangible asset differences	0	53
Goodwill	36	97
Accrued compensation	69	14
Other	43	40
Total gross deferred tax assets	92,201	66,200
Less valuation allowance	(83,000)	(64,273)
Net deferred tax assets	9,201	1,927
Deferred tax liabilities:
Patent expenditures	(1,464)	(1,475)
ASC 842 - right of use assets	(1,049)	(288)
Fixed asset differences	(28)	(164)
Intangible asset differences	(6,644)	0
Total gross deferred tax liabilities	(9,185)	(1,927)
Total net deferred tax assets and liabilities	$ 16	$ 0