Note 3 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Revenue	$ 36,425	$ 31,166	$ 71,889	$ 65,026
Transferred over Time [Member] | Subscription Services [Member]
Revenue	34,215	29,572	67,269	59,993
Transferred over Time [Member] | Fixed, Non-subscription Services [Member]
Revenue	547	158	1,126	675
Transferred over Time [Member] | Unit Price Services [Member]
Revenue	1,100	1,245	2,608	3,071
Transferred at Point in Time [Member] | Service [Member]
Revenue	$ 563	$ 191	$ 886	$ 1,287