Note 3 - Revenue - Components of Accounts Receivable (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Dec. 31, 2021
Trade receivables	$ 5,717	$ 4,605
Unbilled receivables	1,944	3,082
Other short-term receivables	145	152
Allowance for credit losses	(110)	(110)	$ (223)
Total accounts receivable	$ 7,696	$ 7,729