Note 10 - Equity Incentive Plans - Summary of Stock Option Transactions (Details) - $ / shares	9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023
Shares available for grant, balance (in shares)	5,685,806
Number of options outstanding, beginning balance (in shares)	17,938,726
Weighted average exercise price, balance (in dollars per share)	$ 2.9
Shares available for grant, granted (in shares)	(7,167,480)
Number of options outstanding, granted (in shares)	5,248,437
Weighted average exercise price, granted (in dollars per share)	$ 1.12
Number of options outstanding, exercised (in shares)	(38,030)	(54,720)
Weighted average exercise price, exercised (in dollars per share)	$ 0.78
Number of RSUs outstanding, release (in shares)	(571,884)
Released, Weighted average grant date fair value (in dollars per share)	$ 1.51
Shares available for grant, forfeited (in shares)	1,872,626
Number of options outstanding, forfeited (in shares)	(1,435,332)
Weighted average exercise price, forfeited (in dollars per share)	$ 2.29
Shares available for grant, canceled (in shares)	293,568
Number of options outstanding, canceled (in shares)	(306,339)
Weighted average exercise price, canceled (in dollars per share)	$ 3.81
Shares available for grant, balance (in shares)	18,684,520
Number of options outstanding, balance (in shares)	21,407,462
Weighted average exercise price, balance (in dollars per share)	$ 2.5
The 2024 Inducement Award Plan [Member]
Authorized (in shares)	3,000,000
The 2019 Plan [Member]
Authorized (in shares)	15,000,000
Restricted Stock Units (RSUs) [Member]
Number of RSUs outstanding (in shares)	2,126,373
Balance, Weighted average grant date fair value (in dollars per share)	$ 1.37
Number of RSUs outstanding, granted (in shares)	1,919,043
Granted, Weighted average grant date fair value (in dollars per share)	$ 1.14
Number of RSUs outstanding, forfeite (in shares)	(437,294)
Forfeited, Weighted average grant date fair value (in dollars per share)	$ 1.43
Number of RSUs outstanding (in shares)	3,036,238
Balance, Weighted average grant date fair value (in dollars per share)	$ 1.19