Note 14 - Contract Assets and Liabilities (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Mar. 31, 2020	Dec. 31, 2019
Contract with Customer, Receivable, after Allowance for Credit Loss, Total	$ 300	$ 800		$ 700
License [Member]
Contract with Customer, Liability, Noncurrent	1,633	1,767	$ 2,000
Contract with Customer, Liability, Revenue Recognized	$ 100	$ 100