Note 13 - Commitments and Contingencies - Information Related to Right-of-use Assets and Lease Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Right-of-use assets	$ 8,062	$ 8,785
Current operating lease liabilities	896	774
Non-current operating lease liabilities	9,144	10,040
Total lease liabilities	10,040	10,814
Cash paid for operating lease liabilities	1,806	$ 1,643	$ 1,045
2023	1,845
2024	1,910
2025	1,977
2026	2,046
2027	2,117
Thereafter	4,074
Total lease payments	13,969
Less imputed interest	$ (3,929)
Weighted-average remaining lease term (Year)	6 years 9 months 29 days
Weighted-average discount rate	10.00%

Amount of lessee's undiscounted obligation for lease payment for operating lease.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 6
-URI https://asc.fasb.org/extlink&oid=128292326&loc=SL77918701-209980

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Amount of lessee's undiscounted obligation for lease payment for operating lease due after fifth fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

+ References

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Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in next fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in fifth fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in fourth fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in third fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payment for operating lease to be paid in second fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

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Amount of lessee's undiscounted obligation for lease payments in excess of discounted obligation for lease payments for operating lease.

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Present value of lessee's discounted obligation for lease payments from operating lease.

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Present value of lessee's discounted obligation for lease payments from operating lease, classified as current.

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Present value of lessee's discounted obligation for lease payments from operating lease, classified as noncurrent.

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Amount of cash outflow from operating lease, excluding payments to bring another asset to condition and location necessary for its intended use.

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Amount of lessee's right to use underlying asset under operating lease.

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Weighted average discount rate for operating lease calculated at point in time.

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Weighted average remaining lease term for operating lease, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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