Note 11 - Equity Incentive Plan - Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-based compensation expense	$ 3,561	$ 3,876	$ 11,428	$ 10,502
Cost of Sales [Member]
Stock-based compensation expense	181	242	532	645
Research and Development Expense [Member]
Stock-based compensation expense	304	397	1,474	1,267
Selling, General and Administrative Expenses [Member]
Stock-based compensation expense	$ 3,076	$ 3,237	$ 9,422	$ 8,590