Note 10 - Revenue and Geographic Information - Total Revenue by Geographic Location (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Revenue	$ 36,693	$ 34,292
Percentage of Revenue	100.00%	100.00%
UNITED STATES
Revenue	$ 26,773	$ 25,005
Percentage of Revenue	73.00%	73.00%
Europe [Member]
Revenue	$ 5,796	$ 5,480
Percentage of Revenue	16.00%	16.00%
Other Location [Member]
Revenue	$ 4,124	$ 3,807
Percentage of Revenue	11.00%	11.00%