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Note 14 - Equity Incentive Plan - Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Stock-based compensation expense | $ 5,386 | $ 6,087 | $ 11,046
Cost of Sales [Member] |  |  |
Stock-based compensation expense | 719 | 412 | (160)
Research and Development Expense [Member] |  |  |
Stock-based compensation expense | 713 | 424 | 851
Selling, General and Administrative Expenses [Member] |  |  |
Stock-based compensation expense | $ 3,954 | $ 5,251 | $ 10,355

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