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Note 3 - Revenue Recognition (Details Textual) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Jun. 30, 2024
Dec. 31, 2023
Jun. 30, 2023
Dec. 31, 2022
Contract with Customer, Liability $ 1,439 $ 12,497 $ 1,439 $ 12,497 $ 1,570 $ 1,803 $ 11,720 $ 3,000
Contract With Customer, Liability, Revenue Recognized Including Opening Balance $ 131 $ 1,947 $ 364 $ 3,111