Note 14 - Equity Incentive Plan (Tables)

12 Months Ended

Dec. 31, 2024

Notes Tables

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

	Years Ended December 31,
	2024		2023		2022
Cost of revenue	$	328	$	575	$	779
Research and development		1,612		1,934		1,563
Selling, general and administrative		10,218		11,028		11,269
Total stock-based compensation expense	$	12,158	$	13,537	$	13,611

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, 2023		1,812,729		$	33.42			$	127
Granted		547,450		$	28.08
Exercised		(3,556	)	$	21.96			$	14
Forfeited and canceled		(267,583	)	$	33.19			$	30
Outstanding as of December 31, 2024		2,089,040		$	32.07		7.2
Vested, December 31, 2024		1,267,919		$	34.60		6.2
Vested or expected to vest, December 31, 2024		2,089,040		$	32.07		7.2

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

	2024			2023			2022
Risk-free interest rate	3.48%	-	4.62%	3.52%	-	4.64%	1.28%	-	4.28%
Expected stock price volatility	41.54%	-	48.19%	48.19%	-	49.44%	53.80%	-	55.55%
Expected life of options (in years)		4.5			4.5			4.5
Expected dividend yield		0.0%			0.0%			0.0%
Fair value per option		$10.52			$11.45			$11.45

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, 2023	$	771,358		$	27.19
Granted		491,541		$	26.62
Vested		(311,441	)	$	27.87
Forfeited and cancelled		(114,896	)	$	26.47
Outstanding as of December 31, 2024	$	836,562		$	26.70