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Note 13 - Equity Incentive Plan (Tables) | 12 Months Ended
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Dec. 31, 2019
Notes Tables |
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block] |
|  | December 31,
|  | 2019 |  | 2018
Grants: |  |  |  |
Stock options |  |  | 254,517 |  |  |  | 199,970 |
RSAs |  |  | - |  |  |  | 64,578 |
RSUs |  |  | 189,507 |  |  |  | 15,457 |
PSUs |  |  | 123,500 |  |  |  | - |
Exercises: |  |  |  |  |  |  |  |
Stock options |  |  | 518,991 |  |  |  | 284,548 |
SARs |  |  | 35,250 |  |  |  | - |
Share-based Payment Arrangement, Option and Stock Appreciation Rights, Activity [Table Text Block] |
|  | 2019
|  |  |  | Weighted
|  |  |  | Average
|  |  |  | Exercise
|  | Number of |  | Price Per
|  | Shares |  | Share
Options and SARs outstanding at beginning of year |  |  | 1,136,914 |  |  | $ | 42.06 |
Granted |  |  | 254,517 |  |  | $ | 41.92 |
Cancelled |  |  | (97,575 | ) |  | $ | 48.40 |
Expired |  |  | (48,647 | ) |  | $ | 51.18 |
Exercised |  |  | (554,241 | ) |  | $ | 40.37 |
Options and SARs outstanding at end of year |  |  | 690,968 |  |  | $ | 41.65 |
Schedule of Share-based Compensation, Exercisable Stock Options and Stock Appreciation Rights Award Activity [Table Text Bloc] |
|  | Number Outstanding |  | Weighted Avg Exercise Price |  | Weighted Average Remaining Term (in years)
Incentive stock options |  |  | 115,871 |  |  | $ | 22.90 |  |  |  | 3.7 |
Non-qualified stock options |  |  | 158,601 |  |  | $ | 38.82 |  |  |  | 5.8 |
Performance awards |  |  | 23,269 |  |  | $ | 46.51 |  |  |  | 6.6 |
Share-based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block] |
|  | 2019
|  |  |  | Weighted
|  |  |  | Average
|  | Number of |  | Grant Date
|  | Shares |  | Fair Value
Unvested at Beginning of year |  |  | 59,083 |  |  | $ | 47.26 |
Granted |  |  | 313,007 |  |  | $ | 33.64 |
Cancelled |  |  | (49,258 | ) |  | $ | 34.65 |
Vested/Released |  |  | (33,734 | ) |  | $ | 48.39 |
Unvested at end of year |  |  | 289,098 |  |  | $ | 34.53 |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2019 |  | 2018 |  | 2017
Risk free interest rate |  | 1.41% | - | 2.54% |  | 2.15% | - | 2.82% |  | 1.60% | - | 1.86%
Expected volatility |  | 44.27% | - | 48.52% |  | 37.12% | - | 45.61% |  | 38.74% | - | 44.31%
Expected life (years) |  |  | 3.5 |  |  | 4.0 | - | 4.5 |  |  | 4.0 |
Expected dividend yield |  |  | 0.00% |  |  |  | 0.00% |  |  |  | 0.00% |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | 2019 |  | 2018 |  | 2017
Cost of product revenue |  | $ | 412 |  |  | $ | (160 | ) |  | $ | 439 |
Research & development |  |  | 424 |  |  |  | 851 |  |  |  | 564 |
Selling, general & administrative |  |  | 5,251 |  |  |  | 10,355 |  |  |  | 4,804 |
Total stock-based compensation expense |  | $ | 6,087 |  |  | $ | 11,046 |  |  | $ | 5,807 |

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