Note 9 - Accrued Expenses - Activity and Liability Balances Related to Restructuring Costs (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($)
Liability, beginning balance	$ 5,498
New charges	65
Cash payment and other settlements	(1,276)
Liability, ending balance	4,287
Employee Severance [Member]
Liability, beginning balance	1,551
New charges	65
Cash payment and other settlements	(1,276)
Liability, ending balance	340
Other Restructuring [Member]
Liability, beginning balance	3,947
New charges	0
Cash payment and other settlements	0
Liability, ending balance	$ 3,947