Note 11 - Equity Incentive Plan (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
Cost of revenue	$	92	$	181	$	391	$	532
Research & development		485		304		1,587		1,474
Selling, general & administrative		2,817		3,076		8,897		9,422
Total stock-based compensation expense	$	3,394	$	3,561	$	10,875	$	11,428

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, 2023		1,812,729		$	33.42			$	127
Granted		541,100		$	28.13
Exercised		(3,556	)	$	21.96			$	14
Forfeited and canceled		(127,008	)	$	37.50			$	30
Outstanding as of September 30, 2024		2,223,265		$	31.92		7.5	$	248
Vested, September 30, 2024		1,276,640		$	34.57		6.5	$	102
Vested or expected to vest, September 30, 2024		2,223,265		$	31.92		7.5	$	248

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

	Nine Months Ended
	September 30,
	2024			2023
Risk free interest rate		3.6% - 4.6	%		3.5% - 4.4	%
Expected volatility		44.5% - 48.2	%		48.2% - 49.4	%
Expected life (years)		4.5			4.5
Expected dividend yield		0.0	%		0.0	%
Fair value per option	$	10.53		$	11.46

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, 2023		771,358		$	27.19
Granted		491,541		$	26.62
Vested		(308,634	)	$	27.73
Forfeited and cancelled		(74,874	)	$	26.43
Outstanding as of September 30, 2024		879,391		$	26.74