Note 10 - Equity-based Compensation (Details Textual) - USD ($) $ / shares in Units, shares in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)	5 years
Share-Based Payment Arrangement, Expense, Tax Benefit	$ 0	$ 0	$ 0
Share-Based Payment Arrangement, Expense	11,400,000	$ 18,500,000	$ 13,600,000
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount	$ 21,600,000
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)	1 year 8 months 12 days
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Dividend Rate	0.00%	0.00%
Common Stock, Capital Shares Reserved for Future Issuance (in shares)	32,900,079
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value	$ 0	$ 200,000	$ 800,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share)	$ 0.99	$ 1.29	$ 2.62
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested in Period, Fair Value	$ 8,500,000	$ 17,700,000	$ 8,100,000
Share-Based Payment Arrangement, Plan Modification, Number of Grantees Affected		95
Share-Based Payment Arrangement, Accelerated Cost		$ 7,100,000
Share-Based Payment Arrangement, Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)	4 years
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Nonemployee [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)	1 year
Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share)	$ 0	$ 3.11	$ 3.78
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value	$ 1,800,000	$ 5,500	$ 0
Selling, General and Administrative Expenses [Member]
Share-Based Payment Arrangement, Expense	6,500,000	12,300,000	10,400,000
Research and Development Expense [Member]
Share-Based Payment Arrangement, Expense	4,200,000	3,800,000	1,900,000
Cost of Sales [Member]
Share-Based Payment Arrangement, Expense	$ 700,000	$ 2,400,000	$ 1,300,000
Equity Incentive Plan 2007 [Member] | Maximum [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Requisite Service Period (Year)	10 years
Equity Incentive Plan 2007 [Member] | Minimum [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Requisite Service Period (Year)	7 years