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Note 5 - Stock-based Compensation (Tables) | 3 Months Ended
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Mar. 31, 2024
Notes Tables |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | Three Months Ended March 31, |
|  | 2024 |  |  | 2023 |
Stock-based compensation: |  |  |  |  |  |  |  |
Cost of revenue |  | $ | 253 |  |  | $ | 238 |
Sales and marketing |  |  | 712 |  |  |  | 761 |
Research, development and engineering |  |  | 618 |  |  |  | 936 |
General and administrative |  |  | 1,248 |  |  |  | 941 |
Stock-based compensation expense |  |  | 2,831 |  |  |  | 2,876 |
Capitalized to software and patent costs |  |  | 17 |  |  |  | 13 |
Total stock-based compensation |  | $ | 2,848 |  |  | $ | 2,889 |
Share-Based Payment Arrangement, Nonvested Award, Cost [Table Text Block] |
|  | March 31, |  |  | December 31, |
|  | 2024 |  |  | 2023 |
Total unrecognized compensation costs |  | $ | 21,772 |  |  | $ | 15,370 |
Employee Service Share Based Compensation Non Vested Awards Compensation Cost Not Yet Recognized Period for Recognition [Table Text Block] |
|  | RSAs |  |  | RSUs |  |  | PRSUs |
Weighted average period (in years) |  |  | 0.68 |  |  |  | 1.56 |  |  |  | 2.00 |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  |  |  |  |  | Weighted |  |  | Weighted |  |  |  |  |
|  |  |  |  |  | Average |  |  | Average |  |  | Aggregate |
|  | Number of |  |  | Exercise |  |  | Grant Date |  |  | Intrinsic |
|  | Options |  |  | Price |  |  | Fair Value |  |  | Value |
Options outstanding, December 31, 2023 |  |  | 1 |  |  | $ | 22.15 |  |  | $ | — |  |  |  |  |
Granted |  |  | — |  |  | $ | — |  |  | $ | — |  |  |  |  |
Exercised |  |  | — |  |  | $ | — |  |  | $ | — |  |  |  |  |
Forfeited or expired |  |  | — |  |  | $ | — |  |  | $ | — |  |  |  |  |
Options outstanding, March 31, 2024 |  |  | 1 |  |  | $ | 22.15 |  |  | $ | — |  |  | $ | 6 |
Options exercisable, March 31, 2024 |  |  | 1 |  |  | $ | 22.15 |  |  | $ | — |  |  | $ | 6 |
Options unvested, March 31, 2024 |  |  | — |  |  | $ | — |  |  | $ | — |  |  | $ | — |
Nonvested Restricted Stock Shares Activity [Table Text Block] |
|  |  |  |  |  | Weighted |
|  |  |  |  |  | Average |
|  | Number of |  |  | Grant Date |
|  | Shares |  |  | Fair Value |
Unvested balance, December 31, 2023 |  |  | 105 |  |  | $ | 29.89 |
Granted |  |  | 6 |  |  | $ | 35.82 |
Vested |  |  | (14 | ) |  | $ | 33.56 |
Forfeited |  |  | (1 | ) |  | $ | 28.06 |
Unvested balance, March 31, 2024 |  |  | 96 |  |  | $ | 29.76 |
Schedule of Fair Value of Restricted Stock Awards Vested [Table Text Block] |
|  | Three Months Ended March 31, |
|  | 2024 |  |  | 2023 |
Fair value of RSAs vested |  | $ | 551 |  |  | $ | 1,019 |
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] |
|  |  |  |  |  | Weighted |
|  |  |  |  |  | Average |
|  | Number of |  |  | Grant Date |
|  | Units |  |  | Fair Value |
Unvested balance, December 31, 2023 |  |  | 442 |  |  | $ | 23.77 |
Granted |  |  | 154 |  |  | $ | 39.46 |
Vested |  |  | (44 | ) |  | $ | 24.93 |
Forfeited |  |  | (14 | ) |  | $ | 22.38 |
Unvested balance, March 31, 2024 |  |  | 538 |  |  | $ | 28.20 |
Schedule of Fair Value of Restricted Stock Units Vested [Table Text Block] |
|  | Three Months Ended March 31, |
|  | 2024 |  |  | 2023 |
Fair value of RSU awards vested |  | $ | 1,729 |  |  | $ | 624 |
Share-Based Payment Arrangement, Performance Shares, Activity [Table Text Block] |
|  |  |  |  |  | Weighted |
|  |  |  |  |  | Average |
|  | Number of |  |  | Grant Date |
|  | Units |  |  | Fair Value |
Unvested balance, December 31, 2023 |  |  | 192 |  |  | $ | 29.01 |
Change in units based on performance expectations |  |  | 30 |  |  | $ | 22.37 |
Granted |  |  | 59 |  |  | $ | 39.49 |
Vested |  |  | (60 | ) |  | $ | 22.37 |
Forfeited |  |  | — |  |  | $ | — |
Unvested balance, March 31, 2024 |  |  | 221 |  |  | $ | 32.70 |
Schedule of Fair Value of Performance Stock Units Vested [Table Text Block] |
|  | Three Months Ended March 31, |
|  | 2024 |  |  | 2023 |
Fair value of PRSU awards vested |  | $ | 2,370 |  |  | $ | 54 |
Black Scholes Option Valuation [Member] |
Notes Tables |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | Three Months Ended March 31, |
|  | 2024 |  |  | 2023 |
Stock price |  | $ | 39.49 |  |  | $ | 22.37 |
Expected volatility |  |  | 66.3 | % |  |  | 74.7 | %
Risk-free interest rate |  |  | 4.3 | % |  |  | 4.3 | %

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