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Note 12 - Equity Incentive Plan - Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Stock-based compensation expense | $ 3,876 | $ 2,863 | $ 10,502 | $ 7,919
Stock-based compensation expense | 3,876 | 2,863 | 10,502 | 7,919
Cost of Sales [Member] |  |  |  |
Stock-based compensation expense | 242 | 142 | 645 | 485
Stock-based compensation expense | 242 | 142 | 645 | 485
Research and Development Expense [Member] |  |  |  |
Stock-based compensation expense | 397 | 360 | 1,267 | 1,003
Stock-based compensation expense | 397 | 360 | 1,267 | 1,003
Selling, General and Administrative Expenses [Member] |  |  |  |
Stock-based compensation expense | 3,237 | 2,361 | 8,590 | 6,431
Stock-based compensation expense | $ 3,237 | $ 2,361 | $ 8,590 | $ 6,431

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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