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Note 12 - Stock-Based Compensation Textual (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jan. 31, 2022
Dec. 31, 2019
Dec. 31, 2014
Aug. 31, 2013
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Total stock-based compensation expense         $ 44,701 $ 34,640 $ 14,794
Options, grants in period, gross (in shares)         7,603,000    
Options, grants in period, weighted average grant date fair value (in dollars per share)         $ 8.03    
Exercise of stock options, net (in shares)         3,044,000    
Total unrecognized compensation cost         $ 148,700    
Compensation cost expected to be recognized next year         50,713    
Compensation cost expected to be recognized year two         46,329    
Compensation cost expected to be recognized year three         34,537    
Compensation cost expected to be recognized year four         $ 17,121    
Employee stock purchase plan sales, net (in shares)         260,000 321,000 246,000
Share-based Payment Arrangement, Option | Non-employee Directors              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Award vesting period (year)         1 year    
Incentive Plan              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Total stock-based compensation expense         $ 36,716 $ 27,062 $ 12,938
Options, grants in period, weighted average grant date fair value (in dollars per share)         $ 7.57 $ 7.93 $ 5.48
Options, exercises in period, intrinsic value         $ 21,150 $ 25,484 $ 1,562
Exercise of stock options, net (in shares)         2,257,000 2,705,000 510,000
Number of shares available for grant (in shares)   968,000     4,206,000 3,651,000 4,592,000
Incentive Plan | Share-based Payment Arrangement, Option | Maximum              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Options, exercisable, weighted average remaining contractual term (year)         10 years    
Incentive Plan | Share-based Payment Arrangement, Option | Vest 25% Each Year Until Fully Vested              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Award vesting rights, percentage         25.00%    
Award vesting period (year)         4 years    
Incentive Plan | Share-based Payment Arrangement, Option | Thirty-six Equal Monthly Installments | Non-employee Directors              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Award vesting period (year)         3 years    
Incentive Plan | Share-based Payment Arrangement, Option | Thirty-six Equal Monthly Installments | Non-employee Directors              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Award vesting period (year) 3 years            
Incentive Plan | Performance Shares | August 2013              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Total stock-based compensation expense             $ 1,768
Incentive Plan | Performance Shares | December 2019              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Total stock-based compensation expense             684
Incentive Plan | Performance Shares | Vest Upon Successful Completion of Specific Development Milestones              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Award vesting rights, percentage   100.00% 85.00% 100.00%      
Options, grants in period, gross (in shares)   315,000 1,250,000 1,032,000      
Incentive Plan | Restricted Stock Units (RSUs)              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share)         $ 11.20 $ 11.36  
Incentive Plan | Performance-based Restricted Stock Units | Vest 25% Each Year Until Fully Vested              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Total stock-based compensation expense $ 158            
Award vesting rights, percentage 25.00%            
Incentive Plan | Performance-based Restricted Stock Units | Vest Upon Successful Completion of Specific Development Milestones              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Issued performance-based RSU award (in shares) 221,000            
Incentive Plan | Performance-based Restricted Stock Units | Share-Based Payment Arrangement, Tranche One              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Award vesting rights, percentage 50.00%            
Inducement Plan              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Total stock-based compensation expense         $ 6,550 $ 6,055 $ 1,494
Award vesting period (year)         4 years    
Options, grants in period, weighted average grant date fair value (in dollars per share)         $ 9.54 $ 9.65 $ 2.73
Expiration period (year)         10 years    
Options, exercises in period, intrinsic value         $ 3,710 $ 6,700  
Exercise of stock options, net (in shares)         358,000 592,000 0
Number of shares available for grant (in shares)   171,000     947,000 900,000 229,000
Inducement Plan | Vest 25% Each Year Until Fully Vested              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Award vesting rights, percentage         25.00%    
Inducement Plan | Share-based Payment Arrangement, Option              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Expected Dividend Yield         0.00%    
Inducement Plan | Restricted Stock Units (RSUs)              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Options, grants in period, gross (in shares)           0 0
Options, grants in period, weighted average grant date fair value (in dollars per share)         $ 13.21    
Employee Stock Purchase Plan              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Total stock-based compensation expense         $ 1,435 $ 1,523 $ 362
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share)         $ 6.02 $ 2.80 $ 1.47
Number of shares authorized (in shares)         7,975,000    
Number of shares available for grant (in shares)         5,792,000    
Percentage of salary to purchase common stock, maximum         15.00%    
Percentage of common stock shares, beginning         85.00%    
Percentage of common stock shares, ending         85.00%    
Maximum number of shares per employee (in shares)         3,000    
Maximum number of shares per employee, amount         $ 25    
Weighted average purchase price of shares purchased (in dollars per share)         $ 11.03 $ 6.20 $ 2.56
Incentive Plan and Inducement Plan              
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]              
Options, exercisable, weighted average remaining contractual term (year)         5 years 9 months 18 days    
Expected Dividend Yield         0.00% 0.00% 0.00%
Options, aggregate intrinsic value         $ 83,783    
Options, vested in period, fair value         $ 33,575 $ 23,395 $ 18,739
Number of stock option awards vested and expected to vest (in shares)         32,837    
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share)         $ 8.52    
Stock option awards vested and expected to vest, weighted average remaining contractual life (year)         7 years 2 months 12 days