Note 2 - Revenue 1 (Details Textual) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Revenue from Contract with Customers, Sales Returns, Percent	1.00%	1.00%
Contract with Customer, Liability	$ 3.9	$ 3.9
Geographic Concentration Risk [Member] | Revenue Benchmark [Member]
Number of Major Markets	0	0
Number of Major Customers	0	0
Minimum [Member]
Revenue from Contract with Customer, Sales Returns Policy Term (Day)	14 days
Revenue from Contract with Customers, Historical Sales Returns, Percent	1.00%
Maximum [Member]
Revenue from Contract with Customer, Sales Returns Policy Term (Day)	1 year
Revenue from Contract with Customers, Historical Sales Returns, Percent	4.00%