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Note 5 - Stockholders' Equity (Tables) | 9 Months Ended
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Sep. 30, 2023
Notes Tables |
Schedule of Capital Reserved for Future Issuance [Table Text Block] |
Stock options outstanding under 2019 Equity Incentive Plan |  |  | 838,706 |
Restricted stock units outstanding under 2019 Equity Incentive Plan |  |  | 339,505 |
Performance stock units outstanding under 2019 Equity Incentive Plan, at target |  |  | 424,393 |
Shares authorized for future issuance under 2019 Equity Incentive Plan |  |  | 3,134,739 |
Shares authorized for future issuance under 2019 Employee Stock Purchase Plan |  |  | 1,130,770 |
Total |  |  | 5,868,113 |
Share-Based Payment Arrangement, Cost by Plan [Table Text Block] |
|  | Three Months Ended September 30, |  |  | Nine Months Ended September 30, |
|  | 2023 |  |  | 2022 |  |  | 2023 |  |  | 2022 |
|  | (in thousands) |  |  | (in thousands) |
Stock-Based Compensation |  | $ | 3,589 |  |  | $ | 3,092 |  |  | $ | 10,737 |  |  | $ | 8,556 |
Share-Based Payment Arrangement, Activity [Table Text Block] |
|  | Number of shares |  |  | Weighted-average exercise price |  |  | Weighted-average remaining contractual term (in years) |  |  | Aggregate intrinsic value (in thousands) |
Outstanding at January 1, 2023 |  |  | 882,892 |  |  | $ | 33.85 |  |  |  | — |  |  | $ | — |
Options granted |  |  | — |  |  |  | — |  |  |  |  |  |  |  |  |
Options exercised |  |  | (32,882 | ) |  |  | 17.61 |  |  |  |  |  |  |  |  |
Options canceled |  |  | (11,304 | ) |  |  | 66.08 |  |  |  |  |  |  |  |  |
Outstanding at September 30, 2023 |  |  | 838,706 |  |  | $ | 34.05 |  |  |  | 6.0 |  |  | $ | 19,368 |
Vested and Exercisable at September 30, 2023 |  |  | 753,678 |  |  | $ | 30.74 |  |  |  | 5.8 |  |  | $ | 19,308 |
Schedule of Nonvested Restricted Stock Units Activity [Table Text Block] |
|  | Number of shares |  |  | Weighted-average grant date fair value |
Outstanding at January 1, 2023 |  |  | 271,951 |  |  | $ | 68.90 |
Granted |  |  | 157,972 |  |  |  | 51.34 |
Released |  |  | (72,357 | ) |  |  | 66.37 |
Forfeited |  |  | (18,061 | ) |  |  | 52.27 |
Non-vested outstanding at September 30, 2023 |  |  | 339,505 |  |  | $ | 62.15 |
Schedule of Nonvested Performance-Based Units Activity [Table Text Block] |
|  | Number of shares |  |  | Weighted-average grant date fair value |
Outstanding at January 1, 2023 |  |  | 383,103 |  |  | $ | 37.62 |
Granted |  |  | 46,029 |  |  |  | 51.36 |
Vested |  |  | — |  |  |  | — |
Forfeited |  |  | (4,739 | ) |  |  | 54.30 |
Non-vested outstanding at September 30, 2023 |  |  | 424,393 |  |  | $ | 38.93 |

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