Note 5 - Stock-Based Compensation - Allocation of Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023
Stock-based compensation expense	$ 2,831	$ 2,876
Stock-based compensation capitalized to software and patent costs	17	13
Total stock-based compensation	2,848	2,889
Cost of Sales [Member]
Stock-based compensation expense	253	238
Selling and Marketing Expense [Member]
Stock-based compensation expense	712	761
Research and Development Expense [Member]
Stock-based compensation expense	618	936
General and Administrative Expense [Member]
Stock-based compensation expense	$ 1,248	$ 941

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.F)
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147479830/718-10-S99-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(i)
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147480429/718-10-50-2

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-SubTopic 10
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-Section 50
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-URI https://asc.fasb.org/1943274/2147480429/718-10-50-2

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