The aggregate costs incurred (1) in a planned search or critical investigation aimed at discovery of new knowledge with the hope that such knowledge will be useful in developing a new product or service, a new process or technique, or in bringing about a significant improvement to an existing product or process; or (2) to translate research findings or other knowledge into a plan or design for a new product or process or for a significant improvement to an existing product or process whether intended for sale or the entity's use, during the reporting period charged to research and development projects, including the costs of developing computer software up to the point in time of achieving technological feasibility, and costs allocated in accounting for a business combination to in-process projects deemed to have no alternative future use.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 912
-SubTopic 730
-Section 25
-Paragraph 1
-URI https://asc.fasb.org/extlink&oid=6472174&loc=d3e58812-109433

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 985
-SubTopic 20
-Section 50
-Paragraph 1
-URI https://asc.fasb.org/extlink&oid=6501960&loc=d3e128462-111756

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 730
-SubTopic 10
-Section 50
-Paragraph 1
-URI https://asc.fasb.org/extlink&oid=6420194&loc=d3e21568-108373

Name:	us-gaap_ResearchAndDevelopmentExpense
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

Note 7 - Research Grants and Agreements (Details Textual) - USD ($) $ in Thousands	1 Months Ended				12 Months Ended
	May 31, 2021	Mar. 31, 2021	Sep. 30, 2019	Aug. 31, 2018	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Research and Development Expense, Total					$ 20,839	$ 28,640	$ 26,444
Old Dominion University Research Foundation [Member] \| Sponsored Research Agreement SRA [Member]
Research and Development Expense, Total					$ 200	$ 300	$ 600
Old Dominion University Research Foundation [Member] \| Sponsored Research Agreement SRA [Member] \| Research and Development Arrangement [Member]
Long-Term Purchase Commitment, Amount	$ 300	$ 300	$ 800	$ 800