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Note 10 - Common Stock and Stock-based Compensation Plans (Tables)
6 Months Ended
Jun. 30, 2019
Notes Tables  
Share-based Payment Arrangement, Option, Activity [Table Text Block]
   
Number of
options
and
SAR
units (1)
   
Weighted
average
exercise

price
   
Weighted
average
remaining
contractual
term
   

Aggregate
intrinsic-
value
 
Outstanding as of December 31, 2018
   
702,817
    $
19.88
     
4.3
    $
2,708
 
Granted
   
     
     
 
     
 
 
Exercised
   
(31,274
)    
17.15
     
 
     
 
 
Forfeited or expired
   
(730
)    
21.83
     
 
     
 
 
Outstanding as of June 30, 2019 (2)
   
670,813
    $
20.00
     
3.9
    $
3,677
 
Exercisable as of June 30, 2019 (3)
   
600,098
    $
19.27
     
3.6
    $
3,594
 
Share-based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
   
Number of

RSUs
and
PSUs
   
Weighted Average
Grant-Date

Fair Value
 
Unvested as of December 31, 2018
   
564,390
    $
32.28
 
Granted
   
375,600
     
28.15
 
Vested
   
(239,731
)    
29.53
 
Forfeited or expired
   
(25,290
)    
29.63
 
Unvested as of June 30, 2019
   
674,969
    $
30.95
 
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
   
Six
months ended

June
3
0
,
   
Three months ended

June
3
0
,
 
   
201
9
(unaudited)
   
201
8
(unaudited)
   
201
9
(unaudited)
   
201
8
(unaudited)
 
Cost of revenue
  $
296
    $
325
    $
160
    $
168
 
Research and development, net
   
2,820
     
2,628
     
1,458
     
1,359
 
Sales and marketing
   
750
     
877
     
394
     
423
 
General and administrative
   
1,229
     
1,786
     
667
     
895
 
Total equity-based compensation expense
  $
5,095
    $
5,616
    $
2,679
    $
2,845
 
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
   
Six
months ended

June
3
0
,
 
   
201
9
(unaudited)
   
201
8
(unaudited)
 
Expected dividend yield
   
0
%    
 
 
0
%
Expected volatility
   
43
%    
35%
-
42
%
Risk-free interest rate
   
2.5
%    
0.7%
-
1.6
%
Contractual term of up to (months)
   
24
     
 
 
24