Note 11 - Revenue and Geographic Information - Total Revenue by Geographic Location (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Revenue	$ 40,264	$ 39,536	$ 39,536	$ 116,614	$ 111,973
Percentage of Revenue	100.00%		100.00%	100.00%	100.00%
UNITED STATES
Revenue	$ 31,093		$ 30,910	$ 87,552	$ 85,984
Percentage of Revenue	77.00%		78.00%	75.00%	77.00%
Europe [Member]
Revenue	$ 4,885		$ 4,238	$ 15,973	$ 14,808
Percentage of Revenue	12.00%		11.00%	14.00%	13.00%
Other Location [Member]
Revenue	$ 4,286		$ 4,388	$ 13,089	$ 11,181
Percentage of Revenue	11.00%		11.00%	11.00%	10.00%