Note 12 - Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2023

Notes Tables

Schedule of Capital Reserved for Future Issuance [Table Text Block]

Stock options outstanding under 2019 Equity Incentive Plan	807,685
Restricted stock units outstanding under 2019 Equity Incentive Plan	333,716
Performance stock units outstanding under 2019 Equity Incentive Plan	423,621
Shares authorized for future issuance under 2019 Equity Incentive Plan	3,130,991
Shares authorized for future issuance under 2019 Employee Stock Purchase Plan	1,130,770
Total	5,826,783

Share-Based Payment Arrangement, Cost by Plan [Table Text Block]

	Year ended December 31,
	2023		2022		2021
	(in thousands)
Stock-Based Compensation Expense	$	14,913	$	11,624	$	5,584

Share-Based Payment Arrangement, Activity [Table Text Block]

	Number of			Weighted-average exercise		Weighted average remaining contractual term		Aggregate intrinsic value
	shares			price		(in years)		(in thousands)
Outstanding at January 1, 2023		882,892		$	33.85		—	$	—
Options granted		—			—
Options exercised		(61,258	)		20.21
Options canceled		(13,949	)		67.08
Outstanding at December 31, 2023		807,685		$	34.31		5.83	$	21,635
Vested and Exercisable at December 31, 2023		747,105		$	32.11		5.69	$	21,414

Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

	Year ended December 31,
	2023 (1		)	2021
	(in thousands)
Risk free rate of return (2)		—	%		1.69% - 4.23%		0.57% - 1.35%
Expected share price volatility (3)		0.00	%		39.73% - 43.03%		26.06% - 39.41%
Expected life in years (4)		—			5.89		5.89
Dividend yield (5)		0	%		0	%	0	%

Schedule of Nonvested Restricted Stock Units Activity [Table Text Block]

	Number of shares			Weighted-average grant date fair value
Non vested outstanding at January 1, 2023		271,951		$	68.90
Granted		170,140			51.55
Vested		(86,083	)		69.43
Forfeited		(22,292	)		52.56
Non vested outstanding at December 31, 2023		333,716		$	61.01

Schedule of Nonvested Performance-Based Units Activity [Table Text Block]

	Number of shares			Weighted-average grant date fair value
Non vested outstanding at January 1, 2023		383,103		$	37.62
Granted		46,029			51.36
Vested		—			—
Forfeited		(5,511	)		54.33
Non vested outstanding at December 31, 2023		423,621		$	38.90