Note 3 - Revenue From Contracts With Customers (Details Textual) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Contract with Customer, Liability	$ 689,000		$ 689,000		$ 515,000
Contract with Customer, Liability, Revenue Recognized	$ 102,000	$ 153,000	$ 335,000	$ 387,000
Minimum [Member]
Capitalized Contract Cost, Amortization Period (Month)	12 months		12 months
Maximum [Member]
Capitalized Contract Cost, Amortization Period (Month)	60 months		60 months