Note 2 - Revenue Recognition - Components of Accounts Receivable (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Trade receivables	$ 4,605	$ 2,122
Unbilled receivables	3,082	1,277
Other short-term receivables	152	83
Allowance for doubtful accounts	(110)	(223)	$ (835)
Total accounts receivable	$ 7,729	$ 3,259