Note 13 - Equity Incentive Plan (Tables)

12 Months Ended

Dec. 31, 2023

Notes Tables

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

	Years Ended December 31,
	2023		2022		2021
Cost of revenue	$	646	$	820	$	716
Research and development		2,189		1,646		1,233
Selling, general and administrative		12,408		11,849		9,136
Total stock-based compensation expense	$	15,243	$	14,315	$	11,085

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

	Number of Options			Weighted Average Exercise Price		Weighted Average Remaining Contractual Term (in years)		Aggregate Intrinsic Value (in thousands)
Outstanding as of December 31, 2022		1,530,703		$	34.93
Granted		404,903		$	28.58
Exercised		(2,034	)	$	18.30			$	20
Forfeited and canceled		(120,843	)	$	36.59
Outstanding as of December 31, 2023		1,812,729		$	33.42		7.5	$	127
Vested, December 31, 2023		983,834		$	36.66		6.7	$	5
Vested or expected to vest, December 31, 2023		1,812,729		$	33.42		7.5	$	127

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

	2023			2022			2021
Risk-free interest rate	3.52%	-	4.64%	1.28%	-	4.28%	0.29%	-	1.00%
Expected stock price volatility	48.19%	-	49.44%	53.80%	-	55.55%	54.80%	-	56.35%
Expected life of options (in years)		4.5			4.5			4.0
Expected dividend yield		0.0%			0.0%			0.0%
Fair value per option		11.45			11.45			14.80

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

	Number of Shares			Weighted Average Fair Value
Outstanding as of December 31, 2022	$	675,405		$	28.40
Granted		442,762		$	26.66
Vested		(261,939	)	$	29.44
Forfeited and cancelled		(84,870	)	$	27.11
Outstanding as of December 31, 2023	$	771,358		$	27.19

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
Granted		-		$	-
Vested		-		$	-
Forfeited and cancelled		(117,897	)	$	34.98
Outstanding as of December 31, 2023		-		$	-