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Note 11 - Equity Incentive Plan (Tables) | 6 Months Ended
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Jun. 30, 2023
Notes Tables |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | Three Months Ended June 30, |  |  | Six Months Ended June 30, |
|  | 2023 |  |  | 2022 |  |  | 2023 |  |  | 2022 |
Cost of revenue |  | $ | 167 |  |  | $ | 227 |  |  | $ | 351 |  |  | $ | 403 |
Research & development |  |  | 653 |  |  |  | 503 |  |  |  | 1,170 |  |  |  | 870 |
Selling, general & administrative |  |  | 3,330 |  |  |  | 3,351 |  |  |  | 6,346 |  |  |  | 5,323 |
Total stock-based compensation expense |  | $ | 4,150 |  |  | $ | 4,081 |  |  | $ | 7,867 |  |  | $ | 6,626 |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  |  |  |  |  |  |  |  |  | Weighted |  |  |  |  |
|  |  |  |  |  |  |  |  |  | Average |  |  |  |  |
|  |  |  |  |  | Weighted |  |  | Remaining |  |  | Aggregate |
|  |  |  |  |  | Average |  |  | Contractual |  |  | Intrinsic |
|  | Number of |  |  | Exercise |  |  | Term |  |  | Value |
|  | Options |  |  | Price |  |  | (in years) |  |  | (in thousands) |
Outstanding as of December 31, 2022 |  |  | 1,530,703 |  |  | $ | 34.93 |  |  |  |  |  |  |  |  |
Granted |  |  | 361,745 |  |  | $ | 29.51 |  |  |  |  |  |  |  |  |
Exercised |  |  | (2,034 | ) |  | $ | 18.30 |  |  |  |  |  |  | $ | 20 |
Forfeited and canceled |  |  | (45,958 | ) |  | $ | 36.61 |  |  |  |  |  |  |  |  |
Outstanding as of June 30, 2023 |  |  | 1,844,456 |  |  | $ | 33.84 |  |  |  | 8.0 |  |  | $ | 188 |
Vested, June 30, 2023 |  |  | 955,429 |  |  | $ | 36.75 |  |  |  | 7.1 |  |  | $ | 38 |
Vested or expected to vest, June 30, 2023 |  |  | 1,844,456 |  |  | $ | 33.84 |  |  |  | 8.0 |  |  | $ | 188 |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | Six Months Ended |
|  | June 30, |
|  | 2023 |  |  | 2022 |
Risk free interest rate |  |  | 3.5 | % |  |  | - |  |  |  | 4.3 | % |  |  | 1.3 | % |  |  | - |  |  |  | 3.0 | %
Expected volatility |  |  | 48.7 | % |  |  | - |  |  |  | 49.4 | % |  |  | 53.8 | % |  |  | - |  |  |  | 55.2 | %
Expected life (years) |  |  |  |  |  |  | 4.5 |  |  |  |  |  |  |  |  |  |  |  | 4.5 |  |  |  |  |
Expected dividend yield |  |  |  |  |  |  | 0.0 | % |  |  |  |  |  |  |  |  |  |  | 0.0 | % |  |  |  |
Fair value per option |  |  |  |  |  | $ | 11.74 |  |  |  |  |  |  |  |  |  |  | $ | 11.28 |  |  |  |  |
Share-Based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block] |
|  |  |  |  |  | Weighted |
|  | Number of |  |  | Average |
|  | Shares |  |  | Fair Value |
Outstanding as of December 31, 2022 |  |  | 675,405 |  |  | $ | 28.40 |
Granted |  |  | 429,476 |  |  | $ | 26.93 |
Vested |  |  | (247,369 | ) |  | $ | 28.93 |
Forfeited and cancelled |  |  | (34,098 | ) |  | $ | 27.49 |
Outstanding as of June 30, 2023 |  |  | 823,414 |  |  | $ | 27.52 |
Schedule of Nonvested Performance-Based Units Activity [Table Text Block] |
|  | Number of Shares |  |  | Weighted Average Fair Value |
Outstanding as of December 31, 2022 |  |  | 117,897 |  |  | $ | 34.98 |
Forfeited and cancelled |  |  | (117,897 | ) |  | $ | 34.98 |
Outstanding as of June 30, 2023 |  |  | - |  |  | $ | - |

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