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Note 13 - Stock-based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2022
Notes Tables |
Share-Based Payment Arrangement, Cost by Plan [Table Text Block] |
|  | Year Ended December 31, |
(in thousands) |  | 2022 |  |  | 2021 |  |  | 2020 |
Stock options and other |  | $ | 16,103 |  |  | $ | 17,553 |  |  | $ | 13,327 |
Employee stock purchase plan |  |  | 1,442 |  |  |  | 1,542 |  |  |  | 1,346 |
Total stock-based compensation expense |  | $ | 17,545 |  |  | $ | 19,095 |  |  | $ | 14,673 |
Cost of revenue |  | $ | 2,172 |  |  | $ | 2,595 |  |  | $ | 2,451 |
Operating expenses: |  |  |  |  |  |  |  |  |  |  |  |
Marketing and sales |  |  | 3,295 |  |  |  | 3,736 |  |  |  | 3,121 |
Research and development |  |  | 2,189 |  |  |  | 2,833 |  |  |  | 2,440 |
General and administrative |  |  | 9,889 |  |  |  | 9,931 |  |  |  | 6,661 |
Total stock-based compensation expense |  | $ | 17,545 |  |  | $ | 19,095 |  |  | $ | 14,673 |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | Year Ended December 31, |
|  | 2022 |  |  | 2021 |  |  | 2020 |
Risk-free interest rate |  |  | 1.94 - 3.40% |  |  |  | 0.80 - 1.12% |  |  |  | 0.50 - 1.47% |
Expected life (years) |  |  | 6.25 |  |  |  | 6.25 |  |  |  | 6.25 |
Expected volatility |  |  | 45.95 - 46.03% |  |  |  | 45.28 - 45.53% |  |  |  | 42.40 - 43.83% |
Expected dividend yield |  |  | 0% |  |  |  | 0% |  |  |  | 0% |
Weighted average grant date fair value |  |  | $23.11 |  |  |  | $128.14 |  |  |  | $45.32 |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  |  |  |  |  | Weighted- |
|  |  |  |  |  | Average |
|  | Stock Options |  |  | Exercise Price |
Options outstanding at January 1, 2020 |  |  | 276,266 |  |  | $ | 72.38 |
Granted |  |  | 60,065 |  |  |  | 105.79 |
Exercised |  |  | (68,958 | ) |  |  | 57.00 |
Cancelled |  |  | (37,842 | ) |  |  | 67.92 |
Options outstanding at December 31, 2020 |  |  | 229,531 |  |  |  | 86.46 |
Granted |  |  | 57,901 |  |  |  | 128.14 |
Exercised |  |  | (28,991 | ) |  |  | 58.78 |
Cancelled |  |  | (25,057 | ) |  |  | 109.31 |
Options outstanding at December 31, 2021 |  |  | 233,384 |  |  |  | 97.78 |
Granted |  |  | 118,434 |  |  |  | 48.24 |
Exercised |  |  | (3,114 | ) |  |  | 30.58 |
Cancelled |  |  | (84,712 | ) |  |  | 89.32 |
Options outstanding at December 31, 2022 |  |  | 263,992 |  |  | $ | 79.07 |
Exercisable at December 31, 2022 |  |  | 102,692 |  |  | $ | 90.22 |
Share-Based Payment Arrangement, Option, 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 ($) |  |  | Number Exercisable |  |  | Weighted Average Exercise Price ($) |
$39.11 to $66.87 |  | 137,829 |  |  | 7.63 |  |  | 49.84 |  |  | 32,808 |  |  | 56.53 |
$66.88 to $96.20 |  | 37,608 |  |  | 6.72 |  |  | 89.37 |  |  | 17,016 |  |  | 82.08 |
$96.21 to $180.46 |  | 88,555 |  |  | 6.81 |  |  | 120.17 |  |  | 52,868 |  |  | 113.74 |
Share-Based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block] |
|  |  |  |  |  | Weighted- |
|  |  |  |  |  | Average |
|  |  |  |  |  | Grant Date |
|  | Restricted |  |  | Fair Value |
|  | Stock Awards |  |  | Per Share |
Restricted stock at January 1, 2020 |  |  | 314,973 |  |  | $ | 89.55 |
Granted |  |  | 108,179 |  |  |  | 111.76 |
Restrictions lapsed |  |  | (101,941 | ) |  |  | 84.70 |
Forfeited |  |  | (14,012 | ) |  |  | 94.24 |
Restricted stock at December 31, 2020 |  |  | 307,199 |  |  |  | 98.87 |
Granted |  |  | 205,996 |  |  |  | 123.61 |
Restrictions lapsed |  |  | (115,908 | ) |  |  | 91.26 |
Forfeited |  |  | (53,505 | ) |  |  | 128.05 |
Restricted stock at December 31, 2021 |  |  | 343,782 |  |  |  | 111.79 |
Granted |  |  | 315,432 |  |  |  | 42.03 |
Restrictions lapsed |  |  | (130,452 | ) |  |  | 101.32 |
Forfeited |  |  | (50,166 | ) |  |  | 96.48 |
Restricted stock at December 31, 2022 |  |  | 478,596 |  |  | $ | 70.36 |
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, 2020 |  |  | 9,383 |  |  | $ | 58.35 |
Granted |  |  | 19,956 |  |  |  | 118.66 |
Restrictions lapsed |  |  | (7,113 | ) |  |  | 58.35 |
Performance change |  |  | - |  |  |  | - |
Forfeited |  |  | (2,270 | ) |  |  | 58.35 |
Performance stock at December 31, 2020 |  |  | 19,956 |  |  |  | 118.66 |
Granted |  |  | 15,078 |  |  |  | 203.64 |
Restrictions lapsed |  |  | - |  |  |  | - |
Performance change |  |  | (10,366 | ) |  |  | 192.95 |
Forfeited |  |  | (7,829 | ) |  |  | 113.91 |
Performance stock at December 31, 2021 |  |  | 16,839 |  |  |  | 115.56 |
Granted |  |  | 35,697 |  |  |  | 96.71 |
Restrictions lapsed |  |  | - |  |  |  | - |
Performance change |  |  | (13,156 | ) |  |  | 99.59 |
Forfeited |  |  | (3,578 | ) |  |  | 121.79 |
Performance stock at December 31, 2022 |  |  | 35,802 |  |  | $ | 77.91 |
Schedule of Share-based Payment Award, Awards Other Than Stock Options, Valuation Assumptions [Table Text Block] |
|  | Year Ended December 31, |
|  | 2022 |  |  | 2021 |  |  | 2020 |
Risk-free interest rate |  | 0.17 - 4.60% |  |  | 0.06 - 0.17% |  |  | 0.12 - 0.17% |
Expected life (months) |  | 6.00 |  |  | 6.00 |  |  | 6.00 |
Expected volatility |  | 47.05 - 67.84% |  |  | 53.44 - 65.53% |  |  | 50.85 - 59.99% |
Expected dividend yield |  | 0% |  |  | 0% |  |  | 0% |

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