Note 16 - Income Taxes - Components of Deferred Tax Assets and Deferred Tax Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Federal and state net operating losses	$ 77,201	$ 74,270
Federal and state research and experimentation credits	12,406	10,869
Research and experimental costs	9,458	4,837
ASC 842 - lease liabilities	1,468	1,508
Stock based compensation	1,474	482
Fixed asset differences	185	87
Goodwill	0	36
Accrued compensation	610	69
Other	59	43
Total gross deferred tax assets	102,861	92,201
Less valuation allowance	(95,256)	(83,000)
Net deferred tax assets	7,605	9,201
Deferred tax liabilities:
Patent expenditures	(1,096)	(1,464)
ASC 842 - right of use assets	(897)	(1,049)
Fixed asset differences	(9)	(28)
Intangible asset differences	(5,603)	(6,644)
Total gross deferred tax liabilities	(7,605)	(9,185)
Total net deferred tax assets and liabilities	$ 0	$ 16