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Note 12 - Equity Incentive Plan (Tables) | 9 Months Ended
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Sep. 30, 2022
Notes Tables |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | Three Months Ended September 30, |  |  | Nine Months Ended September 30, |
|  | 2022 |  |  | 2021 |  |  | 2022 |  |  | 2021 |
Cost of revenue |  | $ | 242 |  |  | $ | 142 |  |  | $ | 645 |  |  | $ | 485 |
Research & development |  |  | 397 |  |  |  | 360 |  |  |  | 1,267 |  |  |  | 1,003 |
Selling, general & administrative |  |  | 3,237 |  |  |  | 2,361 |  |  |  | 8,590 |  |  |  | 6,431 |
Total stock-based compensation expense |  | $ | 3,876 |  |  | $ | 2,863 |  |  | $ | 10,502 |  |  | $ | 7,919 |
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 |  |  | 486,901 |  |  | $ | 27.60 |  |  |  |  |  |  |  |  |
Exercised |  |  | (437 | ) |  | $ | 9.10 |  |  |  |  |  |  | $ | 10 |
Forfeited and canceled |  |  | (156,672 | ) |  | $ | 44.08 |  |  |  |  |  |  |  |  |
Outstanding as of September 30, 2022 |  |  | 1,505,785 |  |  | $ | 35.21 |  |  |  | 8.3 |  |  | $ | 78 |
Vested, September 30, 2022 |  |  | 499,617 |  |  | $ | 40.00 |  |  |  | 7.3 |  |  | $ | 8 |
Vested or expected to vest, September 30, 2022 |  |  | 1,505,785 |  |  | $ | 35.21 |  |  |  | 8.3 |  |  | $ | 78 |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
| Nine Months Ended September 30,
| 2022 | 2021
Risk free interest rate |  | 1.3% | - | 3.4% |  | 0.3% | - | 0.7%
Expected volatility |  | 53.8% | - | 55.5% |  | 54.8% | - | 56.1%
Expected life (years) |  |  | 4.5 |  |  |  | 4.0 |
Expected dividend yield |  |  | 0.0% |  |  |  | 0.0% |
Fair value per option |  |  | $11.26 |  |  |  | $14.55 |
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 |  |  | 507,524 |  |  | $ | 25.14 |
Vested |  |  | (159,871 | ) |  | $ | 36.48 |
Forfeited and cancelled |  |  | (67,389 | ) |  | $ | 32.45 |
Outstanding as of September 30, 2022 |  |  | 692,922 |  |  | $ | 28.48 |
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 September 30, 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 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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