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Note 2 - Revenue Recognition - Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Contract with customer liability, balance | $ 3,018 | $ 3,098
Trade Receivables [Member] |  |
Contract with customer asset, balance | 8,433 | 11,136
Accrued Revenues [Member] | Licensing and Other [Member] |  |
Contract with customer asset, balance | 9,735 | 8,436
Accrued Revenues [Member] | Royalty [Member] |  |
Contract with customer asset, balance | 12,139 | 10,258
Deferred Revenue [Member] |  |
Contract with customer liability, balance | $ 3,018 | $ 3,098

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