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Note 5 - Stock-based Compensation (Tables)
9 Months Ended
Sep. 30, 2024
Notes Tables  
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

Three Months Ended September 30,

  

Nine Months Ended September 30,

 
  

2024

  

2023

  

2024

  

2023

 

Stock-based compensation:

                

Cost of revenue

 $154  $310  $563  $866 

Sales and marketing

  688   606   2,198   1,930 

Research, development and engineering

  648   658   1,911   2,269 

General and administrative

  1,212   1,118   3,267   3,081 

Stock-based compensation expense

  2,702   2,692   7,939   8,146 

Capitalized to software and patent costs

  5   15   25   42 

Total stock-based compensation

 $2,707  $2,707  $7,964  $8,188 
Share-Based Payment Arrangement, Nonvested Award, Cost [Table Text Block]
  

September 30,

  

December 31,

 
  

2024

  

2023

 

Total unrecognized compensation costs

 $16,026  $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)

  0.84   1.39   1.57 
Nonvested Restricted Stock Shares Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Three Months Ended September 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at June 30, 2024

  62  $32.55 

Granted

    $ 

Vested

  (11) $31.14 

Forfeited

  (6) $27.56 

Unvested balance at September 30, 2024

  45  $37.31 
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Nine Months Ended September 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at December 31, 2023

  105  $29.89 

Granted

  24  $30.19 

Vested

  (77) $28.05 

Forfeited

  (7) $27.57 

Unvested balance at September 30, 2024

  45  $37.31 
Schedule of Fair Value of Restricted Stock Awards Vested [Table Text Block]
  

Three Months Ended September 30,

  

Nine Months Ended September 30,

 
  

2024

  

2023

  

2024

  

2023

 

Fair value of RSAs vested

 $308  $613  $2,069  $2,071 
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Three Months Ended September 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at June 30, 2024

  507  $28.05 

Granted

  10  $26.55 

Vested

  (52) $27.40 

Forfeited

  (24) $26.90 

Unvested balance at September 30, 2024

  441  $28.16 
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Nine Months Ended September 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at December 31, 2023

  442  $23.77 

Granted

  206  $36.17 

Vested

  (148) $26.66 

Forfeited

  (59) $26.91 

Unvested balance at September 30, 2024

  441  $28.16 
Schedule of Fair Value of Restricted Stock Units Vested [Table Text Block]
  

Three Months Ended September 30,

  

Nine Months Ended September 30,

 
  

2024

  

2023

  

2024

  

2023

 

Fair value of RSU awards vested

 $1,356  $1,486  $4,403  $3,313 
Share-Based Payment Arrangement, Performance Shares, Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Three Months Ended September 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at June 30, 2024

  220  $32.09 

Granted

    $ 

Vested

    $ 

Forfeited

  (5) $32.40 

Unvested balance at September 30, 2024

  215  $32.08 
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Nine Months Ended September 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at December 31, 2023

  192  $29.01 

Change in units based on performance expectations

  30  $22.37 

Granted

  73  $36.77 

Vested

  (60) $22.37 

Forfeited

  (20) $34.17 

Unvested balance at September 30, 2024

  215  $32.08 
Schedule of Fair Value of Performance Stock Units Vested [Table Text Block]
  

Three Months Ended September 30,

  

Nine Months Ended September 30,

 
  

2024

  

2023

  

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 September 30,

  

Nine Months Ended September 30,

 
  

2024

  

2023

  

2024

  

2023

 

Stock price

 $  $  $36.64  $22.37 

Expected volatility

        66.3%  74.7%

Risk-free interest rate

        4.3%  4.3%