Note 13 - Commitments and Contingencies - Information Related to Right-of-use Assets and Lease Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Operating right-of-use assets	$ 7,256	$ 8,062
Lease liability, current	1,058	896
Lease liability, less current portion	8,086	9,144
Total lease liabilities	9,144	10,040
Cash paid for operating lease liabilities	1,845	$ 1,806
2024	1,910
2025	1,977
2026	2,046
2027	2,117
2028	2,191
Thereafter	1,883
Total lease payments	12,124
Less imputed interest	$ (2,980)
Weighted-average remaining lease term (Year)	5 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
-Topic 842
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 6
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147478964/842-20-50-6

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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).

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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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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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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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