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Note P - Share-based Compensation (Tables)
12 Months Ended
Dec. 31, 2023
Notes Tables  
Share-Based Payment Arrangement, Option, Activity [Table Text Block]
          

Weighted

      

Weighted

     
      

Weighted

  

Average

      

Average

     
      

Average

  

Share Price

  

Weighted

  

Remaining

  

Aggregate

 
  

Number of

  

Exercise

  

on Date of

  

Average

  

Contractual

  

Intrinsic

 
  

shares

  

Price

  

Exercise

  

Fair Value

  

Life

  

Value

 
  

(in thousands, except price data)

 

Outstanding, January 1, 2023

  263  $10.41      $5.45   0.71  $ 

Exercised

  (48)  11.33   16.23   5.81   0.03   237 

Forfeited

  (214)  10.18       5.36       1,955 

Outstanding, December 31, 2023

  1   13.84       7.12   0.08   8 

Exercisable, December 31, 2023

  1   13.84       7.12   0.08   8 

Vested and expected to vest

  1   13.84       7.12   0.08   8 
Share-Based Payment Arrangement, Performance Shares, Activity [Table Text Block]
      

Weighted

         
      

Average Share

  

Weighted

  

Aggregate

 
  

Number of

  

Price on Date

  

Average Fair

  

Intrinsic

 
  

shares

  

of Release

  

Value

  

Value

 
  

(in thousands, except price data)

 

Outstanding at January 1, 2023

  766      $6.75  $1,447 

Granted

  767       8.89   3,566 

Released

            

Cancelled/Forfeited

             

Outstanding, December 31, 2023

  1,533       7.82   29,610 

Vested and expected to vest

  1,533       7.82   29,610 
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
      

Weighted

         
      

Average Share

  

Weighted

  

Aggregate

 
  

Number of

  

Price on Date

  

Average Fair

  

Intrinsic

 
  

shares

  

of Release

  

Value

  

Value

 
  

(in thousands, except price data)

 

Outstanding at January 1, 2023

  2,209      $5.76  $4,176 

Granted

  2,200       4.76   10,449 

Released

  (1,397) $5.61   6.15   7,833 

Cancelled/Forfeited

  (139)      3.91   2,692 

Outstanding, December 31, 2023

  2,873       4.89   55,507 

Vested and expected to vest

  2,873       4.89   55,507 
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

2023

  

2022

  

2021

 

Cost of goods sold

 $524  $488  $885 

Research and development

  1,492   1,332   2,173 

Sales and marketing

  1,110   857   1,115 

General and administrative

  8,758   6,923   7,948 

Total share-based compensation expense

 $11,884  $9,600  $12,121