How can I express this as a linear constraint?

Question

Let $v \in \mathbb{R}^n$ be a known vector. Let $Q \in \mathbb{R}^{n \times n}$ and $s \in \mathbb{R}$ be decision variables of an optimization problem. Let $Q$ be a positive semidefinite symmetric matrix. How can I express the constraint $$v^TQ^{-1}v \leq \frac{1}{s}\,,$$ as a linear constraint in $Q$ and $s$?