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Note 10 - Common Stock and Stock-based Compensation Plans (Tables)
6 Months Ended
Jun. 30, 2022
Notes Tables  
Share-Based Payment Arrangement, Option, Activity [Table Text Block]
  

Number of
options

and SAR

units (1)

  

Weighted
average

exercise
price

  

Weighted
average

remaining
contractual

term

  

Aggregate
intrinsic

value

 

Outstanding as of December 31, 2021

  126,000  $20.06   2.6  $2,921 

Granted

              

Exercised

  (17,000)  18.08         

Forfeited or expired

              

Outstanding as of June 30, 2022 (2)

  109,000  $20.37   2.5  $1,438 

Exercisable as of June 30, 2022 (3)

  109,000  $20.37   2.5  $1,438 
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
  

Number of
RSUs and

PSUs

  

Weighted Average

Grant-Date
Fair Value

 

Unvested as of December 31, 2021

  688,073  $41.18 

Granted

  413,619   36.15 

Vested

  (226,607)  36.09 

Forfeited or expired

  (68,387)  46.17 

Unvested as of June 30, 2022 (unaudited)

  806,698  $39.73 
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

Six months ended
June 30,

  

Three months ended
June 30,

 
  

2022

(unaudited)

  

2021

(unaudited)

  

2022

(unaudited)

  

2021

(unaudited)

 

Cost of revenue

 $683  $262  $344  $119 

Research and development, net

  4,001   3,428   2,006   1,743 

Sales and marketing

  673   785   340   367 

General and administrative

  1,335   1,629   613   677 

Total equity-based compensation expense

 $6,692  $6,104  $3,303  $2,906 
Schedule of Share-Based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
  

Six months ended
June 30,

 
  

2022

(unaudited)

  

2021

(unaudited)

 

Expected dividend yield

 0%   0%  

Expected volatility

 38%  39%-56% 

Risk-free interest rate

 0.5%  0.1%-1.7% 

Contractual term of up to (months)

 24   24