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Note 14 - Equity Incentive Plan (Tables) | 12 Months Ended
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Dec. 31, 2020
Notes Tables |
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block] |
|  | December 31, |
|  | 20 20 |  |  | 201 9 |
Grants: |  |  |  |  |  |  |  |
Stock options |  |  | 546,496 |  |  |  | 254,517 |
RSUs |  |  | 218,804 |  |  |  | 189,507 |
PSUs |  |  | 162,297 |  |  |  | 123,500 |
Exercises: |  |  |  |  |  |  |  |
Stock options |  |  | 123,063 |  |  |  | 518,991 |
SARs |  |  | - |  |  |  | 35,250 |
Share-based Payment Arrangement, Option and Stock Appreciation Rights, Activity [Table Text Block] |
|  |  |  |  |  | Weighted |
|  |  |  |  |  | Average |
|  |  |  |  |  | Exercise |
|  | Number of |  |  | Price Per |
|  | Shares |  |  | Share |
Options outstanding at beginning of year |  |  | 690,968 |  |  | $ | 41.65 |
Granted |  |  | 546,496 |  |  | $ | 37.78 |
Cancelled |  |  | (112,660 | ) |  | $ | 50.15 |
Expired |  |  | (104,922 | ) |  | $ | 46.33 |
Exercised |  |  | (123,063 | ) |  | $ | 12.43 |
Options outstanding at end of year |  |  | 896,819 |  |  | $ | 41.50 |
Schedule of Share-based Compensation, Exercisable Stock Options and Stock Appreciation Rights Award Activity [Table Text Block] |
|  | Number Outstanding |  |  | Weighted Avg Exercise Price |  |  | Weighted Average Remaining Term (in years) |
Incentive stock options |  |  | 109,581 |  |  | $ | 45.43 |  |  |  | 6.5 |
Non-qualified stock options |  |  | 341,927 |  |  | $ | 41.63 |  |  |  | 4.5 |
Performance awards |  |  | 11,210 |  |  | $ | 53.87 |  |  |  | 2.9 |
Share-based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block] |
|  |  |  |  |  | Weighted |
|  |  |  |  |  | Average |
|  | Number of |  |  | Grant Date |
|  | Shares |  |  | Fair Value |
Unvested at beginning of year |  |  | 289,098 |  |  | $ | 34.53 |
Granted |  |  | 381,101 |  |  | $ | 37.66 |
Cancelled |  |  | (200,418 | ) |  | $ | 35.38 |
Vested/Released |  |  | (58,245 | ) |  | $ | 35.91 |
Unvested at end of year |  |  | 411,536 |  |  | $ | 36.82 |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 20 20 |  | 201 9 |  | 201 8
Risk free interest rate |  | 0.21% | - | 1.59% |  | 1.41% | - | 2.54% |  | 2.15% | - | 2.82%
Expected volatility |  | 46.48% | - | 54.06% |  | 44.27% | - | 48.52% |  | 37.12% | - | 45.61%
Expected term (years) |  |  | 4.0 |  |  |  | 3.5 |  |  | 4.0 | - | 4.5
Expected dividend yield |  |  | 0.00% |  |  |  | 0.00% |  |  |  | 0.00% |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | 20 20 |  |  | 201 9 |  |  | 201 8 |
Cost of revenue |  | $ | 719 |  |  | $ | 412 |  |  | $ | (160 | )
Research and development |  |  | 713 |  |  |  | 424 |  |  |  | 851 |
Selling, general and administrative |  |  | 3,954 |  |  |  | 5,251 |  |  |  | 10,355 |
Total stock-based compensation expense |  | $ | 5,386 |  |  | $ | 6,087 |  |  | $ | 11,046 |

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