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Note 4 - Stock-based Compensation (Tables)
12 Months Ended
Dec. 31, 2022
Notes Tables  
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

Year Ended

  

Year Ended

 
  

December 31,

  

December 31,

 
  

2022

  

2021

 

Stock-based compensation:

        

Cost of revenue

 $913  $693 

Sales and marketing

  3,842   2,691 

Research, development and engineering

  2,646   1,590 

General and administrative

  3,888   6,962 

Stock-based compensation expense

  11,289   11,936 

Capitalized to software and patent costs

  128   136 

Total stock-based compensation

 $11,417  $12,072 
Share-Based Payment Arrangement, Nonvested Award, Cost [Table Text Block]
  

Year Ended

  

Year Ended

 
  

December 31,

  

December 31,

 
  

2022

  

2021

 

Total unrecognized compensation costs

 $16,051  $11,301 
Employee Service Share Based Compensation Non Vested Awards Compensation Cost Not Yet Recognized Period for Recognition [Table Text Block]
  

Restricted

         
  

Stock

  

RSUs

  

PSUs

 

Weighted average period (in years)

  1.05   1.83   1.88 
Share-Based Payment Arrangement, Option, Activity [Table Text Block]
      

Weighted

  

Weighted

     
      

Average

  

Average

  

Aggregate

 
      

Exercise

  

Grant Date

  

Intrinsic

 
  

Options

  

Price

  

Fair Value

  

Value

 

Options outstanding, December 31, 2020

  305  $27.94  $12.65    

Granted

    $  $     

Exercised

  (220) $27.31  $17.36     

Forfeited or expired

  (35) $15.36  $7.36     

Options outstanding, December 31, 2021

  50  $39.54  $22.23    

Granted

  1  $22.15  $     

Exercised

    $  $     

Forfeited or expired

    $  $     

Options outstanding, December 31, 2022

  51  $39.14  $21.72  $ 

Options exercisable, December 31, 2022

  51  $39.14      $ 

Options unvested, December 31, 2022

    $      $ 
Share-Based Payment Arrangement, Option, Exercise Price Range [Table Text Block]
  

Options Outstanding

  

Options Exercisable

 
          

Weighted

          

Weighted

 
      

Remaining

  

Average

      

Remaining

  

Average

 
  

Number

  

Contractual

  

Exercise

  

Number

  

Contractual

  

Exercise

 

Exercise Price

 

Outstanding

  

Life (Years)

  

Price

  

Outstanding

  

Life (Years)

  

Price

 

$15.36 - $24.99

  1   7.85  $22.15   1   7.85  $22.15 

$25.01 - $34.99

     -  $      -  $ 

$35.01 - $39.54

  50   0.61  $39.54   50   0.61  $39.54 

$15.36 - $39.54

  51   0.77  $39.14   51   0.77  $39.14 
Nonvested Restricted Stock Shares Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 
  

Shares

  

Fair Value

 

Unvested balance, December 31, 2020

  416  $28.20 

Granted

  255  $40.53 

Vested

  (246) $29.76 

Forfeited

  (65) $33.64 

Unvested balance, December 31, 2021

  360  $34.90 

Granted

  54  $18.36 

Vested

  (187) $32.72 

Forfeited

  (31) $36.90 

Unvested balance, December 31, 2022

  196  $32.06 
Schedule of Fair Value of Restricted Stock Awards Vested [Table Text Block]
  

Year Ended

  

Year Ended

 
  

December 31,

  

December 31,

 
  

2022

  

2021

 

Fair value of restricted stock awards vested

 $4,445  $8,957 
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 
  

Units

  

Fair Value

 

Unvested balance, December 31, 2020

  45  $15.36 

Granted

    $ 

Vested

  (30) $15.36 

Forfeited

  (15) $15.36 

Unvested balance, December 31, 2021

    $ 

Granted

  601  $26.31 

Vested

  (144) $30.25 

Forfeited

  (87) $26.31 

Unvested balance, December 31, 2022

  370  $24.77 
Schedule of Fair Value of Restricted Stock Units Vested [Table Text Block]
  

Year Ended

  

Year Ended

 
  

December 31,

  

December 31,

 
  

2022

  

2021

 

Fair value of RSU awards vested

 $2,509  $1,050 
Share-Based Payment Arrangement, Performance Shares, Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 
  

Units

  

Fair Value

 

Unvested balance, December 31, 2019

    $ 

Granted

  124  $11.08 

Vested

    $ 

Forfeited

    $ 

Unvested balance, December 31, 2020

  124  $11.08 

Granted

    $ 

Vested (1)

  (82) $15.54 

Forfeited (1)

  (42) $11.08 

Unvested balance, December 31, 2021

    $ 

Granted

  73  $31.93 

Vested

    $- 

Forfeited

  (6) $(32.02)

Unvested balance, December 31, 2022

  67  $31.92 

 

(1) Includes the impact of the modification of 21 PRSUs which were cancelled and reissued at a grant date fair value of $28.93.

Schedule of Fair Value of Performance Stock Units Vested [Table Text Block]
  

Year Ended

  

Year Ended

 
  

December 31,

  

December 31,

 
  

2022

  

2021

 

Fair value of PRSU awards vested

 $  $2,886 
Black Scholes Option Valuation [Member]  
Notes Tables  
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
  

Year Ended

  

Year Ended

 
  

December 31,

  

December 31,

 
  

2022

  

2021

 

Stock price

 $32.02  $ 

Expected volatility

  82.8%   

Risk-free interest rate

  1.8%