Note 11 - Equity Incentive Plan (Tables)

9 Months Ended

Sep. 30, 2023

Notes Tables

Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]

	Three Months Ended September 30,				Nine Months Ended September 30,
	2023		2022		2023		2022
Cost of revenue	$	181	$	242	$	532	$	645
Research & development		304		397		1,474		1,267
Selling, general & administrative		3,076		3,237		9,422		8,590
Total stock-based compensation expense	$	3,561	$	3,876	$	11,428	$	10,502

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

						Weighted
						Average
				Weighted		Remaining		Aggregate
				Average		Contractual		Intrinsic
	Number of			Exercise		Term		Value
	Options			Price		(in years)		(in thousands)
Outstanding as of December 31, 2022		1,530,703		$	34.93
Granted		402,403		$	28.63
Exercised		(2,034	)	$	18.30			$	20
Forfeited and canceled		(100,628	)	$	36.40
Outstanding as of September 30, 2023		1,830,444		$	33.84		7.8	$	10
Vested, September 30, 2023		975,230		$	36.70		6.9	$	0
Vested or expected to vest, September 30, 2023		1,830,444		$	33.84		7.8	$	10

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

	Nine Months Ended
	September 30,
	2023								2022
Risk free interest rate		3.5	%		-		4.4	%	1.3	%		-		3.0	%
Expected volatility		48.2	%		-		49.4	%	53.8	%		-		55.5	%
Expected life (years)					4.5							4.5
Expected dividend yield					0.0	%						0.0	%
Fair value per option				$	11.46						$	11.26

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

				Weighted
	Number of			Average
	Shares			Fair Value
Outstanding as of December 31, 2022		675,405		$	28.40
Granted		442,762		$	26.66
Vested		(259,134	)	$	29.29
Forfeited and cancelled		(84,870	)	$	27.11
Outstanding as of September 30, 2023		774,163		$	27.25

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

	Number of Shares			Weighted Average Fair Value
Outstanding as of December 31, 2022		117,897		$	34.98
Forfeited and cancelled		(117,897	)	$	34.98
Outstanding as of September 30, 2023		-		$	-