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Note 13 - Revenue from Contracts with Customers - Deferred Contract Costs (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Balance, net $ 13,484 $ 11,955 $ 13,257 $ 10,930
Additions 2,490 2,496 4,833 4,855
Amortization (2,182) (1,834) (4,298) (3,168)
Balance, net 13,792 12,617 13,792 12,617
Cost to Obtain Contract [Member]        
Balance, net 13,401 11,875 13,174 10,850
Additions 2,484 2,491 4,820 4,844
Amortization (2,176) (1,831) (4,285) (3,159)
Balance, net 13,709 12,535 13,709 12,535
Cost to Fulfill Contract [Member]        
Balance, net 83 80 83 80
Additions 6 5 13 11
Amortization (6) (3) (13) (9)
Balance, net $ 83 $ 82 $ 83 $ 82