Note 2 - Fair Value Measurements - Schedule of Fair Value Assets and Liabilities Measured on Recurring Basis 1 (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Cash and cash equivalents	$ 9,535	$ 16,932	$ 19,064
Fair Value, Recurring [Member]
Unrealized Gain (Loss), before Tax	(4)	10	(1,254)
Total financial assets	28,139	35,958	90,642
Assets, Fair Value Disclosure	28,135	35,968	89,388
Total financial liabilities	24	26	8,720
Fair Value, Recurring [Member] \| Cash and Cash Equivalents [Member]
Assets, Fair Value Disclosure	8,761	16,377	14,253
Fair Value, Recurring [Member] \| Debt Securities Available for Sale [Member]
Assets, Fair Value Disclosure	19,374	19,591	75,135
Fair Value, Inputs, Level 1 [Member] \| Fair Value, Recurring [Member] \| Money Market Funds [Member]
Cash and cash equivalents	8,761	16,377	14,253
Money market funds, fair value	8,761	16,377	14,253
Fair Value, Inputs, Level 1 [Member] \| Fair Value, Recurring [Member] \| Money Market Funds [Member] \| Cash and Cash Equivalents [Member]
Money market funds, fair value	8,761	16,377	14,253
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Recurring [Member] \| Private Placement Warrants [Member]
Private placement warrant liability	0	0	7
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Recurring [Member] \| Corporate Bond Securities [Member]
Debt Securities, Available-for-Sale, Amortized Cost	7,493	2,880	22,139
Unrealized Gain (Loss), before Tax	(3)	1	(240)
Debt Securities, Available-for-Sale	7,490	2,881	21,899
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Recurring [Member] \| Corporate Bond Securities [Member] \| Debt Securities Available for Sale [Member]
Debt Securities, Available-for-Sale	7,490	2,881	21,899
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Recurring [Member] \| Asset-Backed Securities [Member]
Debt Securities, Available-for-Sale, Amortized Cost			3,507
Unrealized Gain (Loss), before Tax			(119)
Debt Securities, Available-for-Sale			3,388
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Recurring [Member] \| Commercial Paper [Member]
Debt Securities, Available-for-Sale, Amortized Cost	7,907	8,809	20,760
Unrealized Gain (Loss), before Tax	(1)	5	0
Debt Securities, Available-for-Sale	7,906	8,814	20,760
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Recurring [Member] \| Commercial Paper [Member] \| Debt Securities Available for Sale [Member]
Debt Securities, Available-for-Sale	7,906	8,814	20,760
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Recurring [Member] \| US Government Debt Securities [Member]
Debt Securities, Available-for-Sale, Amortized Cost	3,978	7,892	29,983
Unrealized Gain (Loss), before Tax	0	4	(895)
Debt Securities, Available-for-Sale	3,978	7,896	29,088
Fair Value, Inputs, Level 2 [Member] \| Fair Value, Recurring [Member] \| US Government Debt Securities [Member] \| Debt Securities Available for Sale [Member]
Debt Securities, Available-for-Sale	3,978	7,896	29,088
Fair Value, Inputs, Level 3 [Member] \| Fair Value, Recurring [Member]
Convertible notes			8,594
Fair Value, Inputs, Level 3 [Member] \| Fair Value, Recurring [Member] \| Derivative Financial Instruments, Liabilities [Member]
Derivative warrant liability	$ 24	$ 26	$ 119

Represents amortized cost for cash and cash equivalents and debt securities, available-for-sale.

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Fair value portion of asset recognized for present right to economic benefit.

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