Note 11 - Equity Incentive Plan (Tables)

6 Months Ended

Jun. 30, 2023

Notes Tables

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

	Three Months Ended June 30,				Six Months Ended June 30,
	2023		2022		2023		2022
Cost of revenue	$	167	$	227	$	351	$	403
Research & development		653		503		1,170		870
Selling, general & administrative		3,330		3,351		6,346		5,323
Total stock-based compensation expense	$	4,150	$	4,081	$	7,867	$	6,626

Share-Based Payment Arrangement, Option, Activity [Table Text Block]

						Weighted
						Average
				Weighted		Remaining		Aggregate
				Average		Contractual		Intrinsic
	Number of			Exercise		Term		Value
	Options			Price		(in years)		(in thousands)
Outstanding as of December 31, 2022		1,530,703		$	34.93
Granted		361,745		$	29.51
Exercised		(2,034	)	$	18.30			$	20
Forfeited and canceled		(45,958	)	$	36.61
Outstanding as of June 30, 2023		1,844,456		$	33.84		8.0	$	188
Vested, June 30, 2023		955,429		$	36.75		7.1	$	38
Vested or expected to vest, June 30, 2023		1,844,456		$	33.84		8.0	$	188

Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

	Six Months Ended
	June 30,
	2023								2022
Risk free interest rate		3.5	%		-		4.3	%		1.3	%		-		3.0	%
Expected volatility		48.7	%		-		49.4	%		53.8	%		-		55.2	%
Expected life (years)					4.5								4.5
Expected dividend yield					0.0	%							0.0	%
Fair value per option				$	11.74							$	11.28

Share-Based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block]

				Weighted
	Number of			Average
	Shares			Fair Value
Outstanding as of December 31, 2022		675,405		$	28.40
Granted		429,476		$	26.93
Vested		(247,369	)	$	28.93
Forfeited and cancelled		(34,098	)	$	27.49
Outstanding as of June 30, 2023		823,414		$	27.52

Schedule of Nonvested Performance-Based Units Activity [Table Text Block]

	Number of Shares			Weighted Average Fair Value
Outstanding as of December 31, 2022		117,897		$	34.98
Forfeited and cancelled		(117,897	)	$	34.98
Outstanding as of June 30, 2023		-		$	-