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Note 5 - Stock-Based Compensation - Allocation of Stock-Based Compensation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Stock-based compensation expense	$ 11,158	$ 11,289
Stock-based compensation capitalized to software and patent costs	63	128
Total stock-based compensation	11,221	11,417
Cost of Sales [Member]
Stock-based compensation expense	1,126	913
Selling and Marketing Expense [Member]
Stock-based compensation expense	2,640	3,842
Research and Development Expense [Member]
Stock-based compensation expense	2,962	2,646
General and Administrative Expense [Member]
Stock-based compensation expense	$ 4,430	$ 3,888

X

- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.F)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
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+ References

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-Section 50
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