Note 3 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2021	Mar. 31, 2020
Revenue	$ 35,464	$ 33,860
Transferred over Time [Member] \| Subscription Services [Member]
Revenue	33,054	30,421
Transferred over Time [Member] \| Fixed, Non-subscription Services [Member]
Revenue	579	517
Transferred over Time [Member] \| Unit Price Services [Member]
Revenue	1,508	1,826
Transferred at Point in Time [Member] \| Service [Member]
Revenue	$ 323	$ 1,096

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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+ Details