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Note 15 - Stock-based Compensation (Tables)
3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Notes Tables    
Share-Based Payment Arrangement, Option, Activity [Table Text Block]  
  

Outstanding Stock Options

  

Weighted Average Exercise Price

  

Weighted Average Contractual Life (Years)

  

Aggregate Intrinsic Value

 

Balance at December 31, 2022

  846,451  $14.94   6.45  $2,277 

Granted

              

Exercised

  (81,814)  5.57         

Forfeited

  (111,937)  18.78         

Expired

  (363,685)  18.77         

Repurchased

              

Balance at December 31, 2023

  289,015  $11.29   3.07  $ 

Vested and expected to vest as of December 31, 2023

  289,015  $11.29   3.07  $ 

Vested and exercisable as of December 31, 2023

  281,380  $11.09   2.97  $ 
Schedule of Nonvested Restricted Stock Units Activity [Table Text Block]  
  

Shares

  

Weighted Average Grant date Fair Value per Share

 

Unvested at December 31, 2022

  425,703  $119.85 

Granted

  901,472   10.66 

Forfeited

  (344,061)  67.82 

Vested

  (330,661)  53.07 

Unvested at December 31, 2023

  652,453  $30.29 
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

Three months ended March 31,

 
  

2024

  

2023

 

Cost of revenue

 $  $61 

Research and development

  1,209   2,278 

Sales and marketing

  182   1,368 

General and administrative

  1,623   2,806 

Total stock-based compensation

 $3,014  $6,513 
  

Twelve months ended December 31,

 
  

2023

  

2022

 

Research and development

 $6,821  $7,201 

Sales and marketing

  2,993   4,696 

General and administrative

  8,121   11,931 

Cost of revenue

  136   131 

Total stock-based compensation

 $18,071  $23,959 
Schedule of Share-Based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]  
 

Twelve months ended December 31, 2023

Expected term (years)

0.50-2.00

Expected volatility

107.3%-136.0%

Risk-free interest rate

 4.1%-5.1%

Dividend yield

 —% 
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]  
  

Twelve months ended December 31, 2023

 

Expected term (years)

  1.05 

Expected volatility

  104.5%

Risk-free interest rate

  4.8%

Dividend yield

  %