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Note 5 - Stock-Based Compensation - Allocation of Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2024 | Mar. 31, 2023
Stock-based compensation expense | $ 2,831 | $ 2,876
Stock-based compensation capitalized to software and patent costs | 17 | 13
Total stock-based compensation | 2,848 | 2,889
Cost of Sales [Member] |  |
Stock-based compensation expense | 253 | 238
Selling and Marketing Expense [Member] |  |
Stock-based compensation expense | 712 | 761
Research and Development Expense [Member] |  |
Stock-based compensation expense | 618 | 936
General and Administrative Expense [Member] |  |
Stock-based compensation expense | $ 1,248 | $ 941

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- 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 + Details
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- Definition Amount of cost expensed and capitalized for award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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