Note 14 - Stockholders' Equity - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Stock-based compensation expense	$ 2,534	$ 2,255
Cost of Sales [Member]
Stock-based compensation expense	130	104
Research and Development Expense [Member]
Stock-based compensation expense	57	36
General and Administrative Expense [Member]
Stock-based compensation expense	$ 2,347	$ 2,115