Note 13 - Revenue and Geographic Information - Total Revenue by Geographic Location (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Revenue	$ 147,794	$ 130,457	$ 114,610
Percentage of Revenue	100.00%	100.00%	100.00%
UNITED STATES
Revenue	$ 113,833	$ 103,182	$ 90,302
Percentage of Revenue	77.00%	79.00%	79.00%
Europe [Member]
Revenue	$ 19,580	$ 14,179	$ 14,744
Percentage of Revenue	13.00%	11.00%	13.00%
Other Location [Member]
Revenue	$ 14,381	$ 13,096	$ 9,564
Percentage of Revenue	10.00%	10.00%	8.00%