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Note 13 - Stock-based Compensation (Tables)

12 Months Ended

Dec. 31, 2018

Notes Tables

Schedule of Compensation Cost for Share-based Payment Arrangements, Allocation of Share-based Compensation Costs by Plan [Table Text Block]

		Year Ended December 31,
(in thousands)		2018				2017				2016
Stock options and other		$	10,113			$	7,954			$	6,177
Employee stock purchase plan			815				604				598
Total stock-based compensation expense		$	10,928			$	8,558			$	6,775
Cost of revenue		$	1,543			$	970			$	691
Operating expenses:
Marketing and sales			1,942				1,429				977
Research and development			1,517				1,091				1,396
General and administrative			5,926				5,068				3,711
Total stock-based compensation expense		$	10,928			$	8,558			$	6,775

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

		Year Ended December 31,
		2018			2017			2016
Risk-free interest rate		2.52 - 3.07%			2.24 - 2.36%			1.53 - 2.68%
Expected life (years)		6.25			6.50			6.50
Expected volatility		41.68 - 42.22%			42.68 - 44.68%			44.38 - 45.93%
Expected dividend yield		0%			0%			0%
Weighted average grant date fair value		$50.08			$32.26			$26.61

Share-based Compensation, Stock Options, Activity [Table Text Block]

						Weighted-
						Average
		Stock Options				Exercise Price
Options outstanding at January 1, 2016			766,042			$	36.52
Granted			117,480				57.99
Exercised			(226,164	)			16.65
Cancelled			(87,719	)			61.41
Options outstanding at December 31, 2016			569,639				45.00
Granted			60,100				69.06
Exercised			(187,313	)			35.93
Cancelled			(43,371	)			61.02
Options outstanding at December 31, 2017			399,055				51.13
Granted			36,600				110.59
Exercised			(155,765	)			38.92
Cancelled			(27,274	)			74.35
Options outstanding at December 31, 2018			252,616			$	64.71
Exercisable at December 31, 2018			125,925			$	53.02

Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range [Table Text Block]

			Options Outstanding, Vested and Expected to Vest												Options Exercisable
Range of Exercise Prices			Number Outstanding				Weighted Average Remaining Contractual Life				Weighted Average Exercise Price ($)				Number Exercisable				Weighted Average Exercise Price ($)
$3.67 to $31.43				30,972				2.95				24.59				30,972				24.59
$31.44 to $66.87				133,492				5.36				58.52				69,210				58.78
$66.88 to $96.20				51,894				5.55				72.49				25,743				71.73
$96.21 to $123.10				36,258				9.23				110.59				0				0.00

Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Activity [Table Text Block]

						Weighted-
						Average
						Grant Date
		Restricted				Fair Value
		Stock Awards				Per Share
Restricted stock at January 1, 2016			124,393			$	68.97
Granted			161,555				59.37
Restrictions lapsed			(41,415	)			67.78
Forfeited			(29,428	)			63.23
Restricted stock at December 31, 2016			215,105				62.78
Granted			210,744				63.70
Restrictions lapsed			(60,102	)			63.60
Forfeited			(30,916	)			61.99
Restricted stock at December 31, 2017			334,831				63.29
Granted			106,855				115.41
Restrictions lapsed			(86,191	)			63.64
Forfeited			(31,574	)			68.67
Restricted stock at December 31, 2018			323,921			$	79.85

Schedule of Nonvested Performance-based Units Activity [Table Text Block]

						Weighted-
						Average
						Grant Date
		Performance				Fair Value
		Stock Awards				Per Share
Performance stock at January 1, 2016			-			$	-
Granted			-				-
Restrictions lapsed			-				-
Forfeited			-				-
Performance stock at December 31, 2016			-				-
Granted			25,707				58.35
Restrictions lapsed			-				-
Forfeited			-				-
Performance stock at December 31, 2017			25,707				58.35
Granted			20,006				105.75
Restrictions lapsed			-				-
Performance assumption change			6,427				58.35
Forfeited			-				-
Performance stock at December 31, 2018			52,140			$	76.54

Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]

		Year ended December 31,
		2018			2017			2016
Risk-free interest rate		2.06 - 2.33%			0.97 - 1.48%			0.56 - 0.59%
Expected life (months)		6.00			6.00			6.00
Expected volatility		31.50 - 37.36%			24.49 - 34.51%			39.51 - 49.13%
Expected dividend yield		0%			0%			0%

X

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