Note 11 - Net Loss Per Share Attributable to Common Stockholders - Summary of Antidilutive Securities (Details) - shares	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Potentially dilutive securities excluded from denominator of the diluted earnings per share computation (in shares)	25,166,916	22,346,418	23,643,677	20,466,549
Share-Based Payment Arrangement, Option [Member]
Potentially dilutive securities excluded from denominator of the diluted earnings per share computation (in shares)	21,568,098	18,151,747	20,435,908	17,019,217
Restricted Stock Units (RSUs) [Member]
Potentially dilutive securities excluded from denominator of the diluted earnings per share computation (in shares)	3,090,220	3,629,741	2,763,739	2,840,178
Warrant [Member] | Common Stock [Member]
Potentially dilutive securities excluded from denominator of the diluted earnings per share computation (in shares)	140,596	227,434	164,150	227,434
Employee Stock Purchase Plan [Member]
Potentially dilutive securities excluded from denominator of the diluted earnings per share computation (in shares)	368,002	337,496	279,880	379,720