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Note 11 - Equity Incentive Plan (Tables) | 9 Months Ended
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Sep. 30, 2023
Notes Tables |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | Three Months Ended September 30, |  |  | Nine Months Ended September 30, |
|  | 2023 |  |  | 2022 |  |  | 2023 |  |  | 2022 |
Cost of revenue |  | $ | 181 |  |  | $ | 242 |  |  | $ | 532 |  |  | $ | 645 |
Research & development |  |  | 304 |  |  |  | 397 |  |  |  | 1,474 |  |  |  | 1,267 |
Selling, general & administrative |  |  | 3,076 |  |  |  | 3,237 |  |  |  | 9,422 |  |  |  | 8,590 |
Total stock-based compensation expense |  | $ | 3,561 |  |  | $ | 3,876 |  |  | $ | 11,428 |  |  | $ | 10,502 |
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 |  |  | 402,403 |  |  | $ | 28.63 |  |  |  |  |  |  |  |  |
Exercised |  |  | (2,034 | ) |  | $ | 18.30 |  |  |  |  |  |  | $ | 20 |
Forfeited and canceled |  |  | (100,628 | ) |  | $ | 36.40 |  |  |  |  |  |  |  |  |
Outstanding as of September 30, 2023 |  |  | 1,830,444 |  |  | $ | 33.84 |  |  |  | 7.8 |  |  | $ | 10 |
Vested, September 30, 2023 |  |  | 975,230 |  |  | $ | 36.70 |  |  |  | 6.9 |  |  | $ | 0 |
Vested or expected to vest, September 30, 2023 |  |  | 1,830,444 |  |  | $ | 33.84 |  |  |  | 7.8 |  |  | $ | 10 |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | Nine Months Ended |
|  | September 30, |
|  | 2023 |  |  | 2022 |
Risk free interest rate |  |  | 3.5 | % |  |  | - |  |  | 4.4 | % |  | 1.3 | % |  |  | - |  |  | 3.0 | %
Expected volatility |  |  | 48.2 | % |  |  | - |  |  | 49.4 | % |  | 53.8 | % |  |  | - |  |  | 55.5 | %
Expected life (years) |  |  |  |  |  |  | 4.5 |  |  |  |  |  |  |  |  |  | 4.5 |  |  |  |
Expected dividend yield |  |  |  |  |  |  | 0.0 | % |  |  |  |  |  |  |  |  | 0.0 | % |  |  |
Fair value per option |  |  |  |  |  | $ | 11.46 |  |  |  |  |  |  |  |  | $ | 11.26 |  |  |  |
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 |  |  | 442,762 |  |  | $ | 26.66 |
Vested |  |  | (259,134 | ) |  | $ | 29.29 |
Forfeited and cancelled |  |  | (84,870 | ) |  | $ | 27.11 |
Outstanding as of September 30, 2023 |  |  | 774,163 |  |  | $ | 27.25 |
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 September 30, 2023 |  |  | - |  |  | $ | - |

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