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Note 13 - Equity Incentive Plan (Tables)

12 Months Ended

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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