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Note 2 - Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Deferred revenue $ 2,574 $ 2,507
Increases due to consideration received from customers 2,673 3,216
Revenue recognized (3,360) (3,149)
Deferred revenue 1,887 2,574
Unbilled Receivables - beginning of period 72 65
Increases due to revenue recognized - not invoiced to customers 3,147 831
Decreases due to customer invoicing (2,948) (824)
Unbilled Receivables - end of period $ 271 $ 72