Note 11 - Equity Incentive Plan (Tables)

3 Months Ended

Mar. 31, 2024

Notes Tables

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

	Three Months Ended March 31,
	2024		2023
Cost of revenue	$	127	$	184
Research and development		531		517
Selling, general and administrative		2,932		3,016
Total stock-based compensation expense	$	3,590	$	3,717

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, 2023		1,812,729		$	33.42			$	127
Granted		426,925		$	27.93
Exercised		(1,089	)	$	21.77			$	4
Forfeited and canceled		(26,128	)	$	29.99			$	22
Outstanding as of March 31, 2024		2,212,437		$	32.41		7.8	$	316
Vested, March 31, 2024		1,305,902		$	35.24		6.8	$	38
Vested or expected to vest, March 31, 2024		2,212,437		$	32.41		7.8	$	316

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

	Three Months Ended
	March 31,
	2024								2023
Risk free interest rate		3.9	%		-		4.3	%		3.5	%		-	4.3	%
Expected volatility		46.8	%		-		48.2	%		48.7	%		-	49.4	%
Expected life (years)					4.5								4.5
Expected dividend yield					0.0	%				0.0	%
Fair value per option				$	10.48							$	11.71

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, 2023		771,358		$	27.19
Granted		405,917		$	25.44
Vested		(249,716	)	$	27.82
Forfeited and cancelled		(28,611	)	$	27.00
Outstanding as of March 31, 2024		898,948		$	26.89