Note 5 - Stock-based Compensation (Tables)

3 Months Ended

Mar. 31, 2023

Notes Tables

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

	Three Months Ended March 31,
	2023		2022
Stock-based compensation:
Cost of revenue	$	238	$	201
Sales and marketing		761		744
Research, development and engineering		936		507
General and administrative		941		1,016
Stock-based compensation expense		2,876		2,468
Capitalized to software and patent costs		13		36
Total stock-based compensation	$	2,889	$	2,504

Share-Based Payment Arrangement, Nonvested Award, Cost [Table Text Block]

	March 31,		December 31,
	2023		2022
Total unrecognized compensation costs	$	21,576	$	16,051

Employee Service Share Based Compensation Non Vested Awards Compensation Cost Not Yet Recognized Period for Recognition [Table Text Block]

	RSAs		RSUs		PSUs
Weighted average period (in years)		0.90		1.85		2.93

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

			Weighted		Weighted
			Average		Average		Aggregate
	Number of		Exercise		Grant Date		Intrinsic
Three Months Ended March 31, 2023:	Options		Price		Fair Value		Value
Outstanding at December 31, 2022		51	$	39.14	$	21.72
Granted		—	$	—	$	—
Exercised		—	$	—	$	—
Forfeited or expired		—	$	—	$	—
Outstanding at March 31, 2023		51	$	39.14	$	21.72	$	—
Exercisable at March 31, 2023		51	$	39.14			$	—
Unvested at March 31, 2023		—	$	—			$	—

Nonvested Restricted Stock Shares Activity [Table Text Block]

				Weighted
				Average
	Number of			Grant Date
Three months ended March 31, 2023:	Shares			Fair Value
Unvested balance, December 31, 2022		196		$	32.06
Granted		—		$	—
Vested		(46	)	$	33.29
Forfeited		—		$	44.36
Unvested balance, March 31, 2023		150		$	31.66

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

	Three Months Ended March 31,
	2023		2022
Fair value of RSAs vested	$	1,019	$	1,603

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

				Weighted
				Average
	Number of			Grant Date
Three months ended March 31, 2023:	Shares			Fair Value
Unvested balance, December 31, 2022		370		$	24.77
Granted		270		$	22.37
Vested		(29	)	$	25.52
Forfeited		(45	)	$	25.49
Unvested balance, March 31, 2023		566		$	23.53

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

	Three Months Ended March 31,
	2023		2022
Fair value of RSU awards vested	$	624	$	47

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

				Weighted
				Average
	Number of			Grant Date
Three months ended March 31, 2023:	Shares			Fair Value
Unvested balance, December 31, 2022		67		$	31.92
Change in units based on performance expectations		(6	)	$	(32.02	)
Granted		134		$	27.75
Vested		(2	)	$	(32.02	)
Forfeited		(1	)	$	(32.02	)
Unvested balance, March 31, 2023		192		$	29.01

	Three Months Ended March 31,
	2023		2022
Fair value of PSU awards vested	$	54	$	—

Black Scholes Option Valuation [Member]

Notes Tables

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

	Three Months Ended March 31,
	2023			2022
Stock price	$	22.37		$	32.02
Expected volatility		74.7	%		82.8	%
Risk-free interest rate		4.3	%		1.8	%