Note 3 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue	$ 148,580	$ 151,568	$ 147,954
Transferred over Time [Member] | Subscription Services [Member]
Revenue	140,172	141,981	137,008
Transferred over Time [Member] | Fixed, Non-subscription Services [Member]
Revenue	3,503	3,134	3,065
Transferred over Time [Member] | Unit Price Services [Member]
Revenue	834	2,222	4,665
Transferred at Point in Time [Member] | Service [Member]
Revenue	$ 4,071	$ 4,231	$ 3,216