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Note 14 - Equity Incentive Plan (Tables) | 12 Months Ended
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Dec. 31, 2024
Notes Tables |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] |
|  | Years Ended December 31, |
|  | 2024 |  |  | 2023 |  |  | 2022 |
Cost of revenue |  | $ | 328 |  |  | $ | 575 |  |  | $ | 779 |
Research and development |  |  | 1,612 |  |  |  | 1,934 |  |  |  | 1,563 |
Selling, general and administrative |  |  | 10,218 |  |  |  | 11,028 |  |  |  | 11,269 |
Total stock-based compensation expense |  | $ | 12,158 |  |  | $ | 13,537 |  |  | $ | 13,611 |
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, 2023 |  |  | 1,812,729 |  |  | $ | 33.42 |  |  |  |  |  |  | $ | 127 |
Granted |  |  | 547,450 |  |  | $ | 28.08 |  |  |  |  |  |  |  |  |
Exercised |  |  | (3,556 | ) |  | $ | 21.96 |  |  |  |  |  |  | $ | 14 |
Forfeited and canceled |  |  | (267,583 | ) |  | $ | 33.19 |  |  |  |  |  |  | $ | 30 |
Outstanding as of December 31, 2024 |  |  | 2,089,040 |  |  | $ | 32.07 |  |  |  | 7.2 |  |  |  |  |
Vested, December 31, 2024 |  |  | 1,267,919 |  |  | $ | 34.60 |  |  |  | 6.2 |  |  |  |  |
Vested or expected to vest, December 31, 2024 |  |  | 2,089,040 |  |  | $ | 32.07 |  |  |  | 7.2 |  |  |  |  |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
| 2024 |  | 2023 |  | 2022
Risk-free interest rate | 3.48% | - | 4.62% |  | 3.52% | - | 4.64% |  | 1.28% | - | 4.28%
Expected stock price volatility | 41.54% | - | 48.19% |  | 48.19% | - | 49.44% |  | 53.80% | - | 55.55%
Expected life of options (in years) |  | 4.5 |  |  |  | 4.5 |  |  |  | 4.5 |
Expected dividend yield |  | 0.0% |  |  |  | 0.0% |  |  |  | 0.0% |
Fair value per option |  | $10.52 |  |  |  | $11.45 |  |  |  | $11.45 |
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, 2023 |  | $ | 771,358 |  |  | $ | 27.19 |
Granted |  |  | 491,541 |  |  | $ | 26.62 |
Vested |  |  | (311,441 | ) |  | $ | 27.87 |
Forfeited and cancelled |  |  | (114,896 | ) |  | $ | 26.47 |
Outstanding as of December 31, 2024 |  | $ | 836,562 |  |  | $ | 26.70 |

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- Definition Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition Disclosure of the number and weighted-average grant date fair value for restricted stock and restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock and restricted stock units that were granted, vested, or forfeited during the year. + References No definition available. + Details
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