Note 11 - Income Taxes - Reconciliation of Provision for Income Taxes (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Federal tax at statutory rate	21.00%	21.00%	21.00%
State tax at statutory rate	8.40%	8.40%	8.40%
Research and development credits	0.90%	1.90%	2.10%
Change in valuation allowance	(18.40%)	(26.80%)	(43.30%)
Deferred adjustment	(5.30%)	0.00%	8.50%
Change in tax rate	0.00%	0.00%	4.20%
Uncertain Tax Position	(5.70%)	(2.30%)	0.00%
Other	(0.90%)	(2.20%)	(0.80%)
Provision for income taxes	0.00%	0.00%	0.00%

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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-Publisher FASB
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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to income tax contingencies. Includes, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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