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Note 3 - Revenue Information (Details Textual) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Statement Line Items [Line Items]    
Transaction price allocated to remaining performance obligations $ 21,613 $ 0
Recognized during 2024 [member]    
Statement Line Items [Line Items]    
Transaction price allocated to remaining performance obligations 8,800  
Recognized over 2025-2026 [member]    
Statement Line Items [Line Items]    
Transaction price allocated to remaining performance obligations $ 12,800