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Note 13 - Commitments and Contingencies (Details Textual)
$ in Thousands
1 Months Ended 3 Months Ended 12 Months Ended
May 13, 2021
USD ($)
Jun. 30, 2021
USD ($)
May 31, 2020
USD ($)
Nov. 30, 2019
USD ($)
May 31, 2019
USD ($)
a
Sep. 30, 2022
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Sep. 20, 2022
USD ($)
May 11, 2021
USD ($)
Jul. 31, 2017
a
Director and Officer Insurance Premium Payable $ 2,600                      
Payment to Acquire Life Insurance Policy, Investing Activities 700                      
Increase (Decrease) in Operating Lease Right of Use Asset             $ (723) $ (653) $ (509)      
Operating Lease, Right-of-Use Asset             8,062 8,785        
Operating Lease, Liability, Total             10,040 10,814        
Operating Lease, Expense             2,100 $ 1,900 $ 1,700      
Corporate Headquarters in Hayward, California [Member]                        
Lessee, Operating Lease, Term of Contract (Year)                       5 years
Area of Real Estate Property (Acre) | a                       15,700
Increase (Decrease) in Operating Lease Right of Use Asset         $ 2,000              
Operating Lease, Right-of-Use Asset             8,100          
Operating Lease, Liability, Total             10,000          
Corporate Headquarters in Hayward, California [Member] | Expansion Premises 1 [Member]                        
Area of Real Estate Property (Acre) | a         13,300              
Increase (Decrease) in Operating Lease Right of Use Asset       $ 3,000                
Corporate Headquarters in Hayward, California [Member] | Expansion Premises 2 [Member]                        
Area of Real Estate Property (Acre) | a         21,300              
Increase (Decrease) in Operating Lease Right of Use Asset     $ 4,800                  
Board of Directors Chairman [Member] | Conversion of Loan Agreement into Common Stock [Member]                        
Debt Conversion, Original Debt, Amount   $ 41,000                    
Interest Payable   $ 600                    
Debt Conversion, Converted Instrument, Rate   16.40%                    
Loan Agreement [Member] | Board of Directors Chairman [Member]                        
Debt Instrument, Face Amount 41,000                   $ 41,000  
Debt Instrument, Interest Rate, Stated Percentage                     5.00%  
Interest Expense, Total             600          
Two Thousand Twenty Two Loan Agreement [Member] | Robert W. Duggan [Member]                        
Debt Instrument, Face Amount                   $ 65,000    
Debt Instrument Quarterly Interest Rate                   5.0    
Debt Instrument, Increase, Accrued Interest           $ 900            
Insurance Loan Agreement [Member]                        
Debt Instrument, Face Amount $ 1,900                      
Debt Instrument, Interest Rate, Stated Percentage 3.69%                      
Interest Expense, Total             $ 1