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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, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Stock-based compensation expense | $ 11,085 | $ 5,386 | $ 6,087
Cost of Sales [Member] |  |  |
Stock-based compensation expense | 716 | 719 | 412
Research and Development Expense [Member] |  |  |
Stock-based compensation expense | 1,233 | 713 | 424
Selling, General and Administrative Expenses [Member] |  |  |
Stock-based compensation expense | $ 9,136 | $ 3,954 | $ 5,251

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