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Note 3 - Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Deferred revenue $ 4,679 $ 4,247
Increases due to consideration received from customers 999 1,116
Revenue recognized (2,096) (323)
Deferred revenue 3,582 5,040
Unbilled Receivables - beginning of period 270 74
Increases due to revenue recognized, not invoiced to customers 1,379 740
Decreases due to customer invoicing (1,326) (412)
Unbilled Receivables - end of period $ 323 $ 402