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Note 11 - Equity Incentive Plan (Tables) | 3 Months Ended
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Mar. 31, 2022
Notes Tables |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | Three Months Ended March 31, |
|  | 2022 |  |  | 2021 |
Cost of revenue |  | $ | 176 |  |  | $ | 129 |
Research and development |  |  | 367 |  |  |  | 241 |
Selling, general and administrative |  |  | 2,002 |  |  |  | 1,889 |
Total stock-based compensation expense |  | $ | 2,545 |  |  | $ | 2,259 |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Number of Options |  |  | Weighted Average Exercise Price |  |  | Weighted Average Remaining Contractual Term (in years) |  |  | Aggregate Intrinsic Value (in thousands) |
Outstanding as of December 31, 2021 |  |  | 1,175,993 |  |  | $ | 39.56 |  |  |  |  |  |  |  |  |
Granted |  |  | 416,197 |  |  | $ | 28.37 |  |  |  |  |  |  |  |  |
Exercised |  |  | (437 | ) |  | $ | 9.10 |  |  |  |  |  |  | $ | 10 |
Forfeited and canceled |  |  | (47,858 | ) |  | $ | 38.23 |  |  |  |  |  |  |  |  |
Outstanding as of March 31, 2022 |  |  | 1,543,895 |  |  | $ | 36.59 |  |  |  | 8.6 |  |  | $ | 9 |
Vested, March 31, 2022 |  |  | 485,869 |  |  | $ | 41.89 |  |  |  | 7.5 |  |  | $ | 9 |
Vested or expected to vest, March 31, 2022 |  |  | 1,543,895 |  |  | $ | 36.59 |  |  |  | 8.6 |  |  | $ | 9 |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | Three Months Ended March 31, |
|  | 2022 |  |  | 2021 |
Risk free interest rate |  |  | 1.3 | % |  |  | - |  |  |  | 1.9 | % |  |  | 0.3 | % |  |  | - |  |  |  | 0.6 | %
Expected volatility |  |  | 53.8 | % |  |  | - |  |  |  | 54.6 | % |  |  | 54.8 | % |  |  | - |  |  |  | 55.4 | %
Expected life (years) |  |  |  |  |  |  | 4.5 |  |  |  |  |  |  |  |  |  |  |  | 4.0 |  |  |  |  |
Expected dividend yield |  |  |  |  |  |  | 0.0 | % |  |  |  |  |  |  |  |  |  |  | 0.0 | % |  |  |  |
Fair value per option |  |  |  |  |  | $ | 11.37 |  |  |  |  |  |  |  |  |  |  | $ | 13.90 |  |  |  |  |
|  | 2022 |
Risk-free interest rate |  |  | 0.06 | %
Expected stock price volatility |  |  | 32.58 | %
Expected life of options (in years) |  |  | 0.5 |
Expected dividend yield |  |  | 0.0 | %
Share-Based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block] |
|  | Number of Shares |  |  | Weighted Average Fair Value |
Outstanding as of December 31, 2021 |  |  | 412,658 |  |  | $ | 36.33 |
Granted |  |  | 420,452 |  |  | $ | 25.75 |
Vested |  |  | (87,953 | ) |  | $ | 35.19 |
Forfeited and cancelled |  |  | (32,376 | ) |  | $ | 35.27 |
Outstanding as of March 31, 2022 |  |  | 712,781 |  |  | $ | 30.28 |
Schedule of Nonvested Performance-Based Units Activity [Table Text Block] |
|  | Number of Shares |  |  | Weighted Average Fair Value |
Outstanding as of December 31, 2021 |  |  | 158,297 |  |  | $ | 37.44 |
Performance factor adjustment |  |  | 2,125 |  |  | $ | 32.53 |
Vested |  |  | (19,125 | ) |  | $ | 32.53 |
Forfeited and cancelled |  |  | (23,400 | ) |  | $ | 41.86 |
Outstanding as of March 31, 2022 |  |  | 117,897 |  |  | $ | 34.98 |

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- Definition Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the changes in outstanding nonvested performance-based units. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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