Note 12 - Stock-based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Thousands | Jul. 10, 2020 | Jul. 02, 2020 | May 05, 2020 | Mar. 10, 2020 | Jun. 03, 2019 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Nov. 11, 2021 | Dec. 31, 2018 |
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares (in shares) | | | | | | 6,343,242 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | | | | | | 10 years | | | | |
Employee Stock Purchase Plan, Maximum Payroll Deduction, Percent | | | | | | 15.00% | | | | |
Employee Stock Purchase Plan, Stock Purchase Price, Percent | | | | | | 85.00% | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) | | | | | | 15,112,000 | 11,942,000 | | | 5,941,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value | | | | | | $ 222 | $ 850 | | | |
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount | | | | | | $ 6,000 | | | | |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | | | | | | 1 year 8 months 4 days | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number (in shares) | | | | | | 8,164,000 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price (in dollars per share) | | | | | | $ 4.50 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term (Month) | | | | | | 5 years 3 months 18 days | | | | |
Share-based Payment Arrangement, Expense | | | | | | $ 12,949 | $ 21,438 | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | | | | | | 4,659,000 | 6,362,000 | 6,362,000 | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number (in shares) | | | | | | 14,068,000 | | | | |
Restricted Stock Units (RSUs) [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | 40,000 | | 645,000 | 80,000 | 0 | 645,000 | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Month) | | | 4 months | 3 months | | | | | | |
Stock Issued During Period, Shares, Restricted Stock Award, Net of Forfeitures, Total (in shares) | 645,000 | | | | | | | | | |
Restricted Stock Units (RSUs) [Member] | Share-based Payment Arrangement, Tranche One [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | | | | 40,000 | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Month) | | | | | 3 months | | | | | |
Restricted Stock Units (RSUs) [Member] | Share-based Payment Arrangement, Tranche Two [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Month) | | | 13 months | | 1 year | | | | | |
Officer [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number (in shares) | | | | | | 1,679,169 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term (Month) | | | | | | 12 months | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term (Month) | | | | | | 12 months | | | | |
Officer [Member] | Continuing Vesting Options with No Service Requirement [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares) | | | | | | 504,833 | | | | |
Officer [Member] | Vested Options [Member] | | | | | | | | | | |
Share-based Payment Arrangement, Expense | | | | | | $ 945 | | | | |
Officer [Member] | Unvested Options [Member] | | | | | | | | | | |
Share-based Payment Arrangement, Expense | | | | | | $ 663 | | | | |
Officer [Member] | Performance Shares [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | | | | | | 800,000 | | | | |
Officer [Member] | Minimum [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price (in dollars per share) | | | | | | $ 1.03 | | | | |
Officer [Member] | Maximum [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price (in dollars per share) | | | | | | $ 7.44 | | | | |
Officer One [Member] | Performance Shares [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | | | | | | 400,000 | | | | |
Officer One [Member] | Performance Shares [Member] | Share-based Payment Arrangement, Tranche One [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number (in shares) | | | | | | 200,000 | | | 200,000 | |
Officer One [Member] | Performance Shares [Member] | Share-based Payment Arrangement, Tranche Two [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number (in shares) | | | | | | 200,000 | | | | |
Officer Two [Member] | Performance Shares [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | | | | | | 400,000 | | | | |
Officer Two [Member] | Performance Shares [Member] | Share-based Payment Arrangement, Tranche One [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number (in shares) | | | | | | 200,000 | | | | |
Officer Two [Member] | Performance Shares [Member] | Share-based Payment Arrangement, Tranche Two [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number (in shares) | | | | | | 200,000 | | | | |
ESPP [Member] | | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) | | | | | | 1,700,000 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) | | | | | | 0 | | | | |