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Note 10 - Common Stock and Stock-based Compensation Plans (Tables)
3 Months Ended
Mar. 31, 2021
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, 2020

  289,069  $22.42   3.6  $6,673 

Granted

              

Exercised

  (153,295)  24.79         

Forfeited or expired

              

Outstanding as of March 31, 2021 (2)

  135,774  $19.74   3.2  $4,944 

Exercisable as of March 31, 2021 (3)

  135,774  $19.74   3.2  $4,944 
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, 2020

  842,948  $29.30 

Granted

  57,598   66.07 

Vested

  (385,776)  25.95 

Forfeited or expired

  (25,500)  34.88 

Unvested as of March 31, 2021

  489,270  $35.99 
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

Three months ended
March 31,

 
  

2021

(unaudited)

  

2020

(unaudited)

 

Cost of revenue

 $143  $158 

Research and development, net

  1,685   1,623 

Sales and marketing

  418   451 

General and administrative

  952   875 

Total equity-based compensation expense

 $3,198  $3,107 
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
  

Three months ended
March 31,

 
  

2021

(unaudited)

  

2020

(unaudited)

 

Expected dividend yield

  0%    0%  

Expected volatility

 39%-56%  32%-42% 

Risk-free interest rate

 0.1%-1.7%  1.5%-1.9% 

Contractual term of up to (months)

  24    24