Note 9 - Accrued Expenses - Activity and Liability Balances Related to Restructuring Costs (Details) $ in Thousands	9 Months Ended
	Sep. 30, 2023 USD ($)
Liability, beginning balance	$ 6,796
New charges	6,306
Cash payment and other settlements	(6,447)
Liability, ending balance	6,655
Employee Severance [Member]
Liability, beginning balance	3,390
New charges	5,115
Cash payment and other settlements	(5,951)
Liability, ending balance	2,554
Other Restructuring [Member]
Liability, beginning balance	3,406
New charges	1,191
Cash payment and other settlements	(496)
Liability, ending balance	$ 4,101