Note 12 - Restructuring - Summary of Restructuring Reserve (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended	12 Months Ended
Sep. 30, 2023	Sep. 30, 2023	Dec. 31, 2022
Balance – December 31, 2022		$ 0
Charges	$ 400	1,632	$ 0
Usage-cash		(1,418)
Usage-non-cash		(21)
Balance – September 30, 2023	193	193	0
Employee Severance [Member]
Balance – December 31, 2022		0
Charges		915
Usage-cash		(915)
Usage-non-cash		0
Balance – September 30, 2023	0	0	0
Retention Bonus Settlement [Member]
Balance – December 31, 2022		0
Charges		411
Usage-cash		(411)
Usage-non-cash		0
Balance – September 30, 2023	0	0	0
Contract Termination [Member]
Balance – December 31, 2022		0
Charges		285
Usage-cash		(92)
Usage-non-cash		0
Balance – September 30, 2023	193	193	0
Other Restructuring [Member]
Balance – December 31, 2022		0
Charges		21
Usage-cash		0
Usage-non-cash		(21)
Balance – September 30, 2023	$ 0	$ 0	$ 0

Amount of cash payments made as the result of exit or disposal activities. Excludes payments associated with a discontinued operation or an asset retirement obligation.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482017/420-10-50-1

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 230
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-Publisher FASB
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- Definition

Amount of expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses related to a discontinued operation or an asset retirement obligation.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 45
-Paragraph 28
-Subparagraph (b)
-SubTopic 10
-Topic 230
-Publisher FASB
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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
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-Name Accounting Standards Codification
-Section S99
-Paragraph 2
-Subparagraph (SAB Topic 5.P.4(b)(1))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479823/420-10-S99-2

Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 420
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-Name Accounting Standards Codification
-Section 45
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482047/420-10-45-3

Reference 4: http://www.xbrl.org/2003/role/disclosureRef
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- Definition

Carrying amount (including both current and noncurrent portions of the accrual) as of the balance sheet date pertaining to a specified type of cost associated with exit from or disposal of business activities or restructuring pursuant to a duly authorized plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (b)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482017/420-10-50-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
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- Definition

Amount of decrease in the reserve for full or partial settlement through consideration other than cash.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 420
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479823/420-10-S99-2

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