Note 3 - Revenue - Timing of Revenue Recognition (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Revenues	$ 8,017	$ 7,559	$ 19,920	$ 17,810
Transferred at Point in Time [Member]
Revenues	5,969	6,387	14,065	16,042
Transferred over Time [Member]
Revenues	$ 2,048	$ 1,172	$ 5,855	$ 1,768