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Note 14 - Equity Incentive Plan (Tables)
12 Months Ended
Dec. 31, 2020
Notes Tables  
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block]
  

December 31,

 
  

2020

  

2019

 

Grants:

        

Stock options

  546,496   254,517 

RSUs

  218,804   189,507 

PSUs

  162,297   123,500 

Exercises:

        

Stock options

  123,063   518,991 

SARs

  -   35,250 
Share-based Payment Arrangement, Option and Stock Appreciation Rights, Activity [Table Text Block]
      

Weighted

 
      

Average

 
      

Exercise

 
  

Number of

  

Price Per

 
  

Shares

  

Share

 

Options outstanding at beginning of year

  690,968  $41.65 

Granted

  546,496  $37.78 

Cancelled

  (112,660) $50.15 

Expired

  (104,922) $46.33 

Exercised

  (123,063) $12.43 

Options outstanding at end of year

  896,819  $41.50 
Schedule of Share-based Compensation, Exercisable Stock Options and Stock Appreciation Rights Award Activity [Table Text Block]
  

Number
Outstanding

  

Weighted Avg
Exercise Price

  

Weighted Average
Remaining Term
(in years)

 

Incentive stock options

  109,581  $45.43   6.5 

Non-qualified stock options

  341,927  $41.63   4.5 

Performance awards

  11,210  $53.87   2.9 
Share-based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 
  

Shares

  

Fair Value

 

Unvested at beginning of year

  289,098  $34.53 

Granted

  381,101  $37.66 

Cancelled

  (200,418) $35.38 

Vested/Released

  (58,245) $35.91 

Unvested at end of year

  411,536  $36.82 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

 

 

2020

 

2019

 

2018

Risk free interest rate

 

0.21%

-

1.59%

 

1.41%

-

2.54%

 

2.15%

-

2.82%

Expected volatility

 

46.48%

-

54.06%

 

44.27%

-

48.52%

 

37.12%

-

45.61%

Expected term (years)

 

 

4.0

 

 

 

3.5

 

 

4.0

-

4.5

Expected dividend yield

 

 

0.00%

 

 

 

0.00%

 

 

 

0.00%

 

Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

2020

  

2019

  

2018

 

Cost of revenue

 $719  $412  $(160

)

Research and development

  713   424   851 

Selling, general and administrative

  3,954   5,251   10,355 

Total stock-based compensation expense

 $5,386  $6,087  $11,046