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Note 3 - Contracts With Customers (Tables)
12 Months Ended
Dec. 31, 2019
Notes Tables  
Disaggregation of Revenue [Table Text Block]
   
2019
   
2018
 
Subscription services recognized ratably over time
  $
114,329
    $
104,777
 
Services recognized at a point in time
   
4,992
     
4,775
 
Fixed, non-subscription recognized over time
   
2,766
     
3,163
 
Unit price services recognized over time
   
5,895
     
6,971
 
Total revenue
  $
127,982
    $
119,686
 
Contract with Customer, Asset and Liability [Table Text Block]
   
December 31,
2019
   
December 31,
2018
 
Accounts receivables
  $
11,639
    $
11,922
 
Contract assets included in other current assets
  $
103
    $
53
 
Deferred revenue
  $
(16,354
)
  $
(16,244
)
   
2019
   
2018
 
   
Contract
Asset
   
Deferred
Revenue
   
Contract
Asset
   
Deferred
Revenue
 
   
Increase (Decrease)
 
Revenue recognized that was included in deferred revenue at beginning of year due to completion of services
  $
-
    $
(15,785
)
  $
-
    $
(16,372
)
Increases due to invoicing of client, net of amounts recognized as revenue
   
-
     
15,631
     
-
     
16,119
 
Decreases due to completion of services (or portion of services) and transferred to accounts receivable
   
(53
)
   
-
     
(74
)
   
-
 
Change due to cumulative catch-up adjustments arising from changes in expected contract consideration
   
 
     
264
     
 
     
(145
)
Decreases due to impairment
   
-
     
-
     
-
     
-
 
Increases due to revenue recognized in the period with additional performance obligations before invoicing
   
103
     
-
     
53
     
-