Note 5 - Stock-Based Compensation - Allocation of Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Stock-based compensation expense	$ 2,876	$ 2,468
Stock-based compensation capitalized to software and patent costs	13	36
Total stock-based compensation	2,889	2,504
Cost of Sales [Member]
Stock-based compensation expense	238	201
Selling and Marketing Expense [Member]
Stock-based compensation expense	761	744
Research and Development Expense [Member]
Stock-based compensation expense	936	507
General and Administrative Expense [Member]
Stock-based compensation expense	$ 941	$ 1,016