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Note 2 - Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Deferred revenue $ 6,616 $ 4,679
Unbilled receivables - beginning of period 114 270
Increases due to consideration received from customers 754 999
Increases due to revenue recognized, not invoiced to customers 537 1,379
Revenue recognized (2,843) (2,096)
Decreases due to customer invoicing (381) (1,326)
Deferred revenue 4,527 3,582
Unbilled receivables - end of period $ 270 $ 323