Note 5 - Stock-Based Compensation - Allocation of Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Stock-based compensation expense	$ 2,702	$ 2,692	$ 7,939	$ 8,146
Stock-based compensation capitalized to software and patent costs	5	15	25	42
Total stock-based compensation	2,707	2,707	7,964	8,188
Cost of Sales [Member]
Stock-based compensation expense	154	310	563	866
Selling and Marketing Expense [Member]
Stock-based compensation expense	688	606	2,198	1,930
Research and Development Expense [Member]
Stock-based compensation expense	648	658	1,911	2,269
General and Administrative Expense [Member]
Stock-based compensation expense	$ 1,212	$ 1,118	$ 3,267	$ 3,081

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
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