Note 15 - Stock-based Compensation - Summary of Outstanding and Exercisable Stock Options (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Outstanding, stock options (in shares) | shares	27,192,185
Outstanding, weighted average contractual life (Year)	5 years 10 months 28 days
Outstanding, weighed average exercise price (in dollars per share)	$ 4.25
Exercisable, stock options (in shares) | shares	21,238,439
Exercisable, weighted average contractual life (Year)	5 years 5 months 4 days
Exercisable, weighted average exercise price (in dollars per share)	$ 3.65
Range 1 [Member]
Lower exercise price (in dollars per share)	0.16
Upper exercise price (in dollars per share)	$ 1.34
Outstanding, stock options (in shares) | shares	5,401,719
Outstanding, weighted average contractual life (Year)	2 years 8 months 4 days
Outstanding, weighed average exercise price (in dollars per share)	$ 1.28
Exercisable, stock options (in shares) | shares	5,401,719
Exercisable, weighted average contractual life (Year)	2 years 8 months 4 days
Exercisable, weighted average exercise price (in dollars per share)	$ 1.28
Range 2 [Member]
Lower exercise price (in dollars per share)	1.52
Upper exercise price (in dollars per share)	$ 1.89
Outstanding, stock options (in shares) | shares	4,051,290
Outstanding, weighted average contractual life (Year)	4 years 8 months 26 days
Outstanding, weighed average exercise price (in dollars per share)	$ 1.61
Exercisable, stock options (in shares) | shares	4,051,290
Exercisable, weighted average contractual life (Year)	4 years 8 months 26 days
Exercisable, weighted average exercise price (in dollars per share)	$ 1.61
Range 3 [Member]
Lower exercise price (in dollars per share)	3.9
Upper exercise price (in dollars per share)	$ 9.64
Outstanding, stock options (in shares) | shares	17,739,176
Outstanding, weighted average contractual life (Year)	7 years 1 month 28 days
Outstanding, weighed average exercise price (in dollars per share)	$ 5.75
Exercisable, stock options (in shares) | shares	11,785,430
Exercisable, weighted average contractual life (Year)	6 years 11 months 4 days
Exercisable, weighted average exercise price (in dollars per share)	$ 5.44