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Note 4 - Revenue Recognition - Assets and Liabilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Contract with customer liability, balance $ 3,788 $ 3,168
Trade Receivables [Member]    
Contract with customer asset, balance 13,502 12,297
Accrued Revenues [Member] | Licensing and Other [Member]    
Contract with customer asset, balance 8,570 8,695
Accrued Revenues [Member] | Royalty [Member]    
Contract with customer asset, balance 9,800 10,258
Deferred Revenue [Member]    
Contract with customer liability, balance $ 3,788 $ 3,168