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Note 5 - Stockholders' Equity - Summary of Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Outstanding, options (in shares) | shares 882,892
Outstanding, options, weighted average exercise price (in dollars per share) | $ / shares $ 33.85
Options exercised, options (in shares) | shares (32,882)
Options exercised, options, weighted average exercise price (in dollars per share) | $ / shares $ 17.61
Options canceled, options (in shares) | shares (11,304)
Options canceled, options, weighted average exercise price (in dollars per share) | $ / shares $ 66.08
Outstanding, options (in shares) | shares 838,706
Outstanding, options, weighted average exercise price (in dollars per share) | $ / shares $ 34.05
Outstanding, options, weighted average remaining contractual term (Year) 6 years
Outstanding, options, aggregate intrinsic value | $ $ 19,368
Vested and Exercisable, options (in shares) | shares 753,678
Vested and Exercisable, options, weighted average exercise price (in dollars per share) | $ / shares $ 30.74
Vested and Exercisable, options, weighted average remaining contractual term (Year) 5 years 9 months 18 days
Vested and Exercisable, options, aggregate intrinsic value | $ $ 19,308