Note 2 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023
Revenue	$ 35,313	$ 36,473
Transferred over Time [Member] \| Subscription Services [Member]
Revenue	33,271	34,433
Transferred over Time [Member] \| Fixed, Non-subscription Services [Member]
Revenue	495	655
Transferred over Time [Member] \| Unit Price Services [Member]
Revenue	126	209
Transferred at Point in Time [Member] \| Service [Member]
Revenue	$ 1,421	$ 1,176

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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+ Details