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Note 5 - Stockholders' Equity (Tables) | 3 Months Ended
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Mar. 31, 2024
Notes Tables |
Schedule of Capital Reserved for Future Issuance [Table Text Block] |
Stock options outstanding under 2019 Equity Incentive Plan |  |  | 749,239 |
Restricted stock units outstanding under 2019 Equity Incentive Plan |  |  | 358,002 |
Performance stock units outstanding under 2019 Equity Incentive Plan, at target |  |  | 461,037 |
Shares authorized for future issuance under 2019 Equity Incentive Plan |  |  | 3,694,726 |
Shares authorized for future issuance under 2019 Employee Stock Purchase Plan |  |  | 1,360,964 |
Total |  |  | 6,623,968 |
Share-Based Payment Arrangement, Cost by Plan [Table Text Block] |
|  | Three Months Ended March 31, |
|  | 2024 |  |  | 2023 |
|  | (in thousands) |
Stock-Based Compensation |  | $ | 3,820 |  |  | $ | 3,450 |
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, 2024 |  |  | 807,685 |  |  | $ | 34.31 |  |  |  | — |  |  | $ | — |
Options granted |  |  | — |  |  |  | — |  |  |  |  |  |  |  |  |
Options exercised |  |  | (52,722 | ) |  |  | 35.22 |  |  |  |  |  |  |  |  |
Options canceled |  |  | (5,724 | ) |  |  | 67.05 |  |  |  |  |  |  |  |  |
Outstanding at March 31, 2024 |  |  | 749,239 |  |  | $ | 33.99 |  |  |  | 5.7 |  |  | $ | 38,564 |
Vested and Exercisable at March 31, 2024 |  |  | 709,725 |  |  | $ | 32.56 |  |  |  | 5.6 |  |  | $ | 37,551 |
Schedule of Nonvested Restricted Stock Units Activity [Table Text Block] |
|  | Number of shares |  |  | Weighted-average grant date fair value |
Outstanding at January 1, 2024 |  |  | 333,716 |  |  | $ | 61.01 |
Granted |  |  | 105,370 |  |  |  | 62.60 |
Released |  |  | (72,900 | ) |  |  | 56.05 |
Forfeited |  |  | (8,184 | ) |  |  | 52.15 |
Non-vested outstanding at March 31, 2024 |  |  | 358,002 |  |  | $ | 62.69 |
Schedule of Nonvested Performance-Based Units Activity [Table Text Block] |
|  | Number of shares |  |  | Weighted-average grant date fair value |
Outstanding at January 1, 2024 |  |  | 423,621 |  |  | $ | 38.90 |
Granted |  |  | 55,005 |  |  |  | 65.22 |
Vested |  |  | (12,645 | ) |  |  | 96.74 |
Forfeited |  |  | (4,944 | ) |  |  | 50.19 |
Non-vested outstanding at March 31, 2024 |  |  | 461,037 |  |  | $ | 40.33 |

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