Note 3 - Revenue - Timing of Revenue Recognition (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenues	$ 7,988	$ 8,017	$ 20,736	$ 19,920
Transferred at Point in Time [Member]
Revenues	6,078	5,969	13,287	14,065
Transferred over Time [Member]
Revenues	$ 1,910	$ 2,048	$ 7,449	$ 5,855