Note 3 - Supplemental Balance Sheet Information - Accounts Receivable (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounts receivable	$ 61,237	$ 65,368
Accounts receivable	61,237	65,368
Less allowance for credit losses	(1,461)	(1,654)	$ (564)
Accounts Receivable, net	59,776	63,714
Trade Accounts Receivable [Member]
Accounts receivable	51,567	53,658
Accounts receivable	51,567	53,658
Unbilled [Member]
Accounts receivable	6,537	10,436
Accounts receivable	6,537	10,436
Non-Trade [Member]
Accounts receivable	3,133	1,274
Accounts receivable	$ 3,133	$ 1,274