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Note 3 - Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Deferred revenue $ 4,679 $ 4,247
Increases due to consideration received from customers 2,151 3,378
Revenue recognized (2,564) (2,013)
Deferred revenue 4,266 5,612
Unbilled receivables - beginning of period 270 74
Increases due to revenue recognized, not invoiced to customers 2,070 1,937
Decreases due to customer invoicing (2,047) (1,784)
Unbilled receivables - end of period $ 293 $ 227