Note 8 - Revenue (Details Textual) - USD ($)	3 Months Ended	12 Months Ended
	Mar. 31, 2023	Dec. 31, 2022
Contract with Customer, Liability, Revenue Recognized	$ 362,000	$ 719,000
Contract with Customer, Liability, Current	729,000	782,000
Contract with Customer, Liability, Noncurrent	$ 835,000	$ 911,000