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Note 14 - Equity Incentive Plan (Tables)

12 Months Ended

Dec. 31, 2022

Notes Tables

Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]

		Years Ended December 31,
		2022				2021				2020
Cost of revenue		$	820			$	716			$	719
Research and development			1,646				1,233				713
Selling, general and administrative			11,849				9,136				3,954
Total stock-based compensation expense		$	14,315			$	11,085			$	5,386

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			553,827			$	28.07
Exercised			(433	)		$	8.83							$	10
Forfeited and canceled			(198,684	)		$	43.24
Outstanding as of December 31, 2022			1,530,703			$	34.93				8.1			$	1,050
Vested, December 31, 2022			640,056			$	40.08				7.2			$	12
Vested or expected to vest, December 31, 2022			1,530,703			$	34.93				8.1			$	1,050

Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

	2022				2021				2020
Risk-free interest rate	1.28%	-	4.28%		0.29%	-	1.00%		0.21%	-	1.59%
Expected stock price volatility	53.80%	-	55.55%		54.80%	-	56.35%		46.48%	-	54.06%
Expected life of options (in years)		4.5				4.0				4.0
Expected dividend yield		0.0%				0.0%				-%
Fair value per option		11.45				14.80				16.31

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			(164,167	)		$	36.77
Forfeited and cancelled			(80,610	)		$	(31.40	)
Outstanding as of December 31, 2022		$	675,405			$	28.40

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
Granted			2,125			$	32.53
Vested			(19,125	)		$	32.53
Forfeited and cancelled			(23,400	)		$	41.86
Outstanding as of December 31, 2022			117,897			$	34.98

X

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