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Note 2 - Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Deferred revenue $ 1,887 $ 2,574
Increases due to consideration received from customers 217 525
Revenue recognized (341) (667)
Deferred revenue 1,763 2,432
Unbilled Receivables - beginning of period 271 72
Increases due to revenue recognized, not invoiced to customers 531 522
Decreases due to customer invoicing (578) (404)
Unbilled Receivables - end of period $ 224 $ 190