Note 2 - Revenue Recognition 2 (Details Textual) $ in Thousands	Dec. 31, 2023 USD ($)
Revenue, Remaining Performance Obligation, Amount	$ 7,458
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Revenue, Remaining Performance Obligation, Amount	$ 7,389
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period (Month)	12 months