Note 2 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue	$ 37,945	$ 37,691	$ 110,579	$ 113,424
Transferred over Time [Member] | Subscription Services [Member]
Revenue	35,205	34,907	103,942	105,822
Transferred over Time [Member] | Fixed, Non-subscription Services [Member]
Revenue	1,249	1,127	2,703	2,318
Transferred over Time [Member] | Unit Price Services [Member]
Revenue	291	315	710	2,012
Transferred at Point in Time [Member] | Service [Member]
Revenue	$ 1,200	$ 1,342	$ 3,224	$ 3,272