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Note 14 - Equity Incentive Plan (Tables)
12 Months Ended
Dec. 31, 2021
Notes Tables  
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

Years Ended December 31,

 
  

2021

  

2020

  

2019

 

Cost of revenue

 $716  $719  $412 

Research and development

  1,233   713   424 

Selling, general and administrative

  9,136   3,954   5,251 

Total stock-based compensation expense

 $11,085  $5,386  $6,087 
Share-based Payment Arrangement, Option, Activity [Table Text Block]
  

Number
of
Options

  

Weighted
Average
Exercise Price

  

Weighted Average

Remaining

Contractual

Term (in years)

  

Aggregate
Intrinsic

Value

(in thousands)

 

Outstanding as of December 31, 2020

  896,819  $41.50         

Granted

  529,505  $38.08         

Exercised

  (31,466) $34.58      $257 

Forfeited and canceled

  (218,865) $44.77         

Outstanding as of December 31, 2021

  1,175,993  $39.56   8.4  $975 

Vested, December 31, 2021

  299,451  $43.64   7.2  $264 

Vested or expected to vest, December 31, 2021

  1,175,993  $39.56   8.4  $975 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
 

2021

 

2020

 

2019

 

Risk-free interest rate

 0.29%- 1.00%  0.21%- 1.59%  1.41%- 2.54% 

Expected stock price volatility

 54.80%- 56.35%  46.48%- 54.06%  44.27%- 48.52% 

Expected life of options (in years)

   4.0      4.0      3.5   

Expected dividend yield

   -%      -%      -%   

Fair value per option

   14.80      16.31      14.73   
  

2021

 

Risk-free interest rate

  0.06%

Expected stock price volatility

  32.58%

Expected life of options (in years)

  0.5 

Expected dividend yield

  -%
Share-based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block]
  

Number of
Shares

  

Weighted
Average
Fair Value

 

Outstanding as of December 31, 2020

 $233,239  $37.50 

Granted

  328,257  $35.88 

Vested

  (91,680) $37.94 

Forfeited and cancelled

  (57,158) $35.94 

Outstanding as of December 31, 2021

 $412,658  $36.33 
Schedule of Nonvested Performance-based Units Activity [Table Text Block]
  

Number of
Shares

  

Weighted
Average
Fair Value

 

Outstanding as of December 31, 2020

  178,297  $35.93 

Forfeited and cancelled

  (20,000) $37.44 

Outstanding as of December 31, 2021

  158,297  $37.44