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Note 5 - Stock-based Compensation (Tables)
6 Months Ended
Jun. 30, 2024
Notes Tables  
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
  

Three Months Ended June 30,

  

Six Months Ended June 30,

 
  

2024

  

2023

  

2024

  

2023

 

Stock-based compensation:

                

Cost of revenue

 $156  $318  $409  $556 

Sales and marketing

  798   563   1,510   1,324 

Research, development and engineering

  645   675   1,263   1,611 

General and administrative

  807   1,022   2,055   1,963 

Stock-based compensation expense

  2,406   2,578   5,237   5,454 

Capitalized to software and patent costs

  3   14   20   27 

Total stock-based compensation

 $2,409  $2,592  $5,257  $5,481 
Share-Based Payment Arrangement, Nonvested Award, Cost [Table Text Block]
  

June 30,

  

December 31,

 
  

2024

  

2023

 

Total unrecognized compensation costs

 $20,197  $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)

  0.93   1.48   1.81 
Nonvested Restricted Stock Shares Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Three Months Ended June 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at March 31, 2024

  96  $29.76 

Granted

  18  $28.13 

Vested

  (52) $24.55 

Forfeited

    $ 

Unvested balance at June 30, 2024

  62  $32.55 
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Six Months Ended June 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at December 31, 2023

  105  $29.89 

Granted

  24  $30.19 

Vested

  (66) $27.53 

Forfeited

  (1) $27.61 

Unvested balance at June 30, 2024

  62  $32.55 
Schedule of Fair Value of Restricted Stock Awards Vested [Table Text Block]
  

Three Months Ended June 30,

  

Six Months Ended June 30,

 
  

2024

  

2023

  

2024

  

2023

 

Fair value of RSAs vested

 $1,211  $439  $1,761  $1,458 
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Three Months Ended June 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at March 31, 2024

  538  $28.20 

Granted

  42  $26.35 

Vested

  (52) $27.38 

Forfeited

  (21) $29.99 

Unvested balance at June 30, 2024

  507  $28.05 
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Six Months Ended June 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at December 31, 2023

  442  $23.77 

Granted

  196  $36.63 

Vested

  (96) $26.26 

Forfeited

  (35) $26.92 

Unvested balance at June 30, 2024

  507  $28.05 
Schedule of Fair Value of Restricted Stock Units Vested [Table Text Block]
  

Three Months Ended June 30,

  

Six Months Ended June 30,

 
  

2024

  

2023

  

2024

  

2023

 

Fair value of RSU awards vested

 $1,318  $1,203  $3,047  $1,827 
Share-Based Payment Arrangement, Performance Shares, Activity [Table Text Block]
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Three Months Ended June 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at March 31, 2024

  221  $32.70 

Granted

  14  $25.19 

Vested

    $ 

Forfeited

  (15) $34.75 

Unvested balance at June 30, 2024

  220  $32.09 
      

Weighted

 
      

Average

 
  

Number of

  

Grant Date

 

Six Months Ended June 30, 2024:

 

Shares

  

Fair Value

 

Unvested balance at December 31, 2023

  192  $29.01 

Change in units based on performance expectations

  30  $22.37 

Granted

  73  $36.77 

Vested

  (60) $22.37 

Forfeited

  (15) $34.75 

Unvested balance at June 30, 2024

  220  $32.09 
Schedule of Fair Value of Performance Stock Units Vested [Table Text Block]
  

Three Months Ended June 30,

  

Six Months Ended June 30,

 
  

2024

  

2023

  

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 June 30,

  

Six Months Ended June 30,

 
  

2024

  

2023

  

2024

  

2023

 

Stock price

 $25.39  $  $36.64  $22.37 

Expected volatility

  66.3%     66.3%  74.7%

Risk-free interest rate

  4.3%     4.3%  4.3%