Note 3 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Revenue	$ 37,292	$ 36,425	$ 75,734	$ 71,889
Transferred over Time [Member] | Subscription Services [Member]
Revenue	35,480	34,215	70,930	67,269
Transferred over Time [Member] | Fixed, Non-subscription Services [Member]
Revenue	605	547	1,191	1,126
Transferred over Time [Member] | Unit Price Services [Member]
Revenue	472	1,100	1,697	2,608
Transferred at Point in Time [Member] | Service [Member]
Revenue	$ 735	$ 563	$ 1,916	$ 886