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Note 3 - Revenue Recognition 1 (Details Textual) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Contract with Customer, Liability, Revenue Recognized $ 200 $ 200    
Contract with Customer, Liability 769   $ 711 $ 500
Accounts Receivable, Allowance for Credit Loss $ 1,600   $ 1,600  
Accounts Receivable [Member] | Customer Concentration Risk [Member]        
Number of Major Customers 3   1  
Accounts Receivable [Member] | Customer Concentration Risk [Member] | Customer One [Member]        
Concentration Risk, Percentage 0.23%      
Accounts Receivable [Member] | Customer Concentration Risk [Member] | Customer Two [Member]        
Concentration Risk, Percentage 0.15%      
Accounts Receivable [Member] | Customer Concentration Risk [Member] | Customer Three [Member]        
Concentration Risk, Percentage 0.12%      
Accounts Receivable [Member] | Customer Concentration Risk [Member] | One Customer [Member]        
Concentration Risk, Percentage     0.83%