Note 14 - Segment Information (Details Textual) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue from Contract with Customer, Including Assessed Tax	$ 30,941	$ 30,771	$ 95,418	$ 84,423
Non-US [Member]
Revenue from Contract with Customer, Including Assessed Tax	20,669	18,152	64,144	48,502
UNITED STATES
Revenue from Contract with Customer, Including Assessed Tax	10,272	$ 12,619	31,274	$ 35,921
Revision of Prior Period, Error Correction, Adjustment [Member]
Revenue from Contract with Customer, Including Assessed Tax	$ (1,722)		(1,722)
Revision of Prior Period, Error Correction, Adjustment [Member] | Non-US [Member]
Revenue from Contract with Customer, Including Assessed Tax			(1,324)
Revision of Prior Period, Error Correction, Adjustment [Member] | UNITED STATES
Revenue from Contract with Customer, Including Assessed Tax			$ (398)