Note 2 - Contracts With Customers - Information About Receivables, Contract Assets, and Contract Liabilities From Contracts With Customers (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Accounts receivables	$ 14,467		$ 14,461
Deferred Revenue	16,238		15,198
Revenue recognized that was included in deferred revenue at beginning of year due to completion of services	(14,473)	$ (16,522)
Increases due to invoicing of client, net of amounts recognized as revenue	15,602	16,578
Decreases due to completion of services (or portion of services) and transferred to accounts receivable	(93)	(88)
Change due to cumulative catch-up adjustments arising from changes in expected contract consideration	(89)	104
Increases due to revenue recognized in the period with additional performance obligations before invoicing	29	$ 8
Other Current Assets [Member]
Contract assets included in other current assets	$ 38		$ 102