Note 3 - Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023
Deferred revenue - beginning of period	$ 6,616	$ 4,679
Unbilled receivables - beginning of period	114	270
Increases due to consideration received from customers	1,238	2,151
Increases due to revenue recognized, not invoiced to customers	1,121	2,070
Revenue recognized	(3,302)	(2,564)
Decreases due to customer invoicing	(1,053)	(2,047)
Deferred revenue - end of period	4,552	4,266
Unbilled receivables - end of period	$ 182	$ 293