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Note 5 - Stock-based Compensation (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

 

Stock-based compensation:

               

Cost of revenue

  $ 253     $ 238  

Sales and marketing

    712       761  

Research, development and engineering

    618       936  

General and administrative

    1,248       941  

Stock-based compensation expense

    2,831       2,876  

Capitalized to software and patent costs

    17       13  

Total stock-based compensation

  $ 2,848     $ 2,889  
Share-Based Payment Arrangement, Nonvested Award, Cost [Table Text Block]
   

March 31,

   

December 31,

 
   

2024

   

2023

 

Total unrecognized compensation costs

  $ 21,772     $ 15,370  
Employee Service Share Based Compensation Non Vested Awards Compensation Cost Not Yet Recognized Period for Recognition [Table Text Block]
                         
   

RSAs

   

RSUs

   

PRSUs

 

Weighted average period (in years)

    0.68       1.56       2.00  
Share-Based Payment Arrangement, Option, Activity [Table Text Block]
           

Weighted

   

Weighted

         
           

Average

   

Average

   

Aggregate

 
   

Number of

   

Exercise

   

Grant Date

   

Intrinsic

 
   

Options

   

Price

   

Fair Value

   

Value

 

Options outstanding, December 31, 2023

    1     $ 22.15     $          

Granted

        $     $          

Exercised

        $     $          

Forfeited or expired

        $     $          

Options outstanding, March 31, 2024

    1     $ 22.15     $     $ 6  

Options exercisable, March 31, 2024

    1     $ 22.15     $     $ 6  

Options unvested, March 31, 2024

        $     $     $  
Nonvested Restricted Stock Shares Activity [Table Text Block]
           

Weighted

 
           

Average

 
   

Number of

   

Grant Date

 
   

Shares

   

Fair Value

 

Unvested balance, December 31, 2023

    105     $ 29.89  

Granted

    6     $ 35.82  

Vested

    (14 )   $ 33.56  

Forfeited

    (1 )   $ 28.06  

Unvested balance, March 31, 2024

    96     $ 29.76  
Schedule of Fair Value of Restricted Stock Awards Vested [Table Text Block]
   

Three Months Ended March 31,

 
   

2024

   

2023

 

Fair value of RSAs vested

  $ 551     $ 1,019  
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
           

Weighted

 
           

Average

 
   

Number of

   

Grant Date

 
   

Units

   

Fair Value

 

Unvested balance, December 31, 2023

    442     $ 23.77  

Granted

    154     $ 39.46  

Vested

    (44 )   $ 24.93  

Forfeited

    (14 )   $ 22.38  

Unvested balance, March 31, 2024

    538     $ 28.20  
Schedule of Fair Value of Restricted Stock Units Vested [Table Text Block]
   

Three Months Ended March 31,

 
   

2024

   

2023

 

Fair value of RSU awards vested

  $ 1,729     $ 624  
Share-Based Payment Arrangement, Performance Shares, Activity [Table Text Block]
           

Weighted

 
           

Average

 
   

Number of

   

Grant Date

 
   

Units

   

Fair Value

 

Unvested balance, December 31, 2023

    192     $ 29.01  

Change in units based on performance expectations

    30     $ 22.37  

Granted

    59     $ 39.49  

Vested

    (60 )   $ 22.37  

Forfeited

        $  

Unvested balance, March 31, 2024

    221     $ 32.70  
Schedule of Fair Value of Performance Stock Units Vested [Table Text Block]
   

Three Months Ended March 31,

 
   

2024

   

2023

 

Fair value of PRSU awards vested

  $ 2,370     $ 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,

 
   

2024

   

2023

 

Stock price

  $ 39.49     $ 22.37  

Expected volatility

    66.3 %     74.7 %

Risk-free interest rate

    4.3 %     4.3 %