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Note 7 - Leases (Details Textual)
$ in Thousands
Mar. 31, 2024
USD ($)
Dec. 31, 2023
USD ($)
Sep. 30, 2021
USD ($)
Operating Lease, Right-of-Use Asset $ 23,753 $ 24,840  
Operating Lease, Weighted Average Discount Rate, Percent 9.80%    
Operating Lease, Weighted Average Remaining Lease Term (Year) 4 years 10 months 24 days    
Right of Use for Office and Manufacturing Facilities with Initial Terms Exceeding One Year [Member]      
Lessee, Operating Lease, Number of Right-of-Use Leases   6  
Lease for Facility in South San Francisco Commenced in Third Quarter of 2022 [Member]      
Operating Lease, Right-of-Use Asset     $ 15,000
Lease for Facility in South San Francisco Commenced in First Quarter of 2023 [Member]      
Operating Lease, Right-of-Use Asset     $ 3,100