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Note 5 - Revenue Recognition - Assets and Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Contract with customer liability, balance $ 3,994 $ 3,098
Trade Receivables [Member]    
Contract with customer asset, balance 7,997 11,136
Accrued Revenues [Member] | Licensing and Other [Member]    
Contract with customer asset, balance 12,943 8,436
Accrued Revenues [Member] | Royalty [Member]    
Contract with customer asset, balance 10,123 10,258
Deferred Revenue [Member]    
Contract with customer liability, balance $ 3,994 $ 3,098