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Note 12 - Equity Incentive Plan (Tables) | 6 Months Ended
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Jun. 30, 2020
Notes Tables |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | Six months ended June 30, |
|  | 2020 |  |  | 2019 |
Risk free interest rate |  |  | 0.31% | - | 1.59% |  |  |  | 2.18% | - | 2.54% |
Expected volatility |  |  | 46.48% | - | 51.87% |  |  |  | 44.05% | - | 44.72% |
Expected life (years) |  |  | 4.0 | - | 6.3 |  |  |  |  | 3.5 |  |
Expected dividend yield |  |  |  | 0.00% |  |  |  |  |  | 0.00% |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | Three Months Ended June 30, |  |  | Six Months Ended June 30, |
|  | 2020 |  |  | 2019 |  |  | 2020 |  |  | 2019 |
Cost of product revenue |  | $ | 216 |  |  | $ | 82 |  |  | $ | 362 |  |  | $ | 174 |
Research & development |  |  | 156 |  |  |  | 91 |  |  |  | 352 |  |  |  | 268 |
Selling, general & administrative |  |  | 1,868 |  |  |  | 1,270 |  |  |  | 1,319 |  |  |  | 2,387 |
Total stock-based compensation expense |  | $ | 2,240 |  |  | $ | 1,443 |  |  | $ | 2,033 |  |  | $ | 2,829 |
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block] |
|  | Three Months Ended June 30, |  |  | Six Months Ended June 30, |
|  | 2020 |  |  | 2019 |  |  | 2020 |  |  | 2019 |
Grants: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock options |  |  | 106,438 |  |  |  | 27,325 |  |  |  | 317,213 |  |  |  | 131,617 |
RSUs |  |  | 83,476 |  |  |  | 8,000 |  |  |  | 184,107 |  |  |  | 173,507 |
PSUs |  |  | 88,820 |  |  |  | - |  |  |  | 146,220 |  |  |  | 114,500 |
TSRs |  |  | 104,638 |  |  |  | - |  |  |  | 104,638 |  |  |  | - |
Exercises: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock options |  |  | 2,146 |  |  |  | 22,400 |  |  |  | 2,146 |  |  |  | 22,900 |
Forfeitures: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock options |  |  | 20,625 |  |  |  | 38,163 |  |  |  | 54,103 |  |  |  | 39,072 |
RSAs |  |  | - |  |  |  | 14,450 |  |  |  | 8,574 |  |  |  | 21,116 |
RSUs |  |  | 8,483 |  |  |  | 22,000 |  |  |  | 72,166 |  |  |  | 22,500 |
PSUs |  |  | 8,000 |  |  |  | - |  |  |  | 71,000 |  |  |  | 18,000 |
Expirations: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock options |  |  | 200 |  |  |  | 2,855 |  |  |  | 563 |  |  |  | 18,862 |

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