Note 3 - Contracts With Customers - Information About Receivables, Contract Assets, and Contract Liabilities From Contracts With Customers (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Accounts receivables	$ 14,461	$ 13,728
Deferred revenue	15,198	17,213
Revenue recognized that was included in deferred revenue at beginning of year due to completion of services	(17,170)	(15,631)
Increases due to invoicing of client, net of amounts recognized as revenue	15,081	16,694
Decreases due to completion of services (or portion of services) and transferred to accounts receivable	(99)	(311)
Change due to cumulative catch-up adjustments arising from changes in expected contract consideration	74	326
Increases due to revenue recognized in the period with additional performance obligations before invoicing	102	99
Other Current Assets [Member]
Contract assets included in other current assets	$ 102	$ 99