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Note 11 - Equity Incentive Plan - Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Stock-based compensation expense | $ 4,150 | $ 4,081 | $ 7,867 | $ 6,626
Cost of Sales [Member] |  |  |  |
Stock-based compensation expense | 167 | 227 | 351 | 403
Research and Development Expense [Member] |  |  |  |
Stock-based compensation expense | 653 | 503 | 1,170 | 870
Selling, General and Administrative Expenses [Member] |  |  |  |
Stock-based compensation expense | $ 3,330 | $ 3,351 | $ 6,346 | $ 5,323

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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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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