Note 11 - Stock-based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 12 Months Ended | |
Mar. 31, 2022 | Mar. 31, 2021 | Dec. 31, 2021 | Jun. 01, 2021 |
Common Stock, No Par Value (in dollars per share) | $ 0 | | $ 0 | |
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% | | | |
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares) | 0 | | 0 | |
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount | $ 6,990 | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number (in shares) | 10,736,000 | 7,887,000 | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 4.68 | $ 4.59 | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term (Month) | 5 years 6 months | 5 years 11 months 12 days | | |
Share-based Payment Arrangement, Expense | $ 2,514 | $ 6,643 | | |
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 | | |
Share-Based Payment Arrangement, Option [Member] | | | | |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 1 year 8 months 1 day | | | |
Continuing Vesting Options with No Service Requirement [Member] | Officer [Member] | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares) | | 504,833 | | |
Vested Options [Member] | Officer [Member] | | | | |
Share-based Payment Arrangement, Expense | | $ 945 | | |
Unvested Options [Member] | Officer [Member] | | | | |
Share-based Payment Arrangement, Expense | | $ 663 | | |
Maximum [Member] | Officer [Member] | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price (in dollars per share) | | $ 7.44 | | |
Minimum [Member] | Officer [Member] | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price (in dollars per share) | | $ 1.03 | | |
New Incentive Plan [Member] | | | | |
Common Stock, No Par Value (in dollars per share) | | | | $ 0 |
New Incentive Plan [Member] | Maximum [Member] | | | | |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) | | | | 6,343,242 |
ESPP [Member] | | | | |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) | 1,700,000 | | | |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 4 months | | | |
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | $ 6 | | | |