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Note 5 - Revenue from Contract with Customer - Schedule of Remaining Performance Obligations 1 2 (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022
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Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01 |  |
Remaining performance obligations |  | $ 6,422
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01 |  |
Remaining performance obligations | $ 6,852 |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 |  |
Remaining performance obligations | 5,648 | 11,296
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01 |  |
Remaining performance obligations | 5,005 | 3,860
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01 |  |
Remaining performance obligations | $ 1,000 | $ 0

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- Definition Amount of transaction price allocated to performance obligation that has not been recognized as revenue. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Name Accounting Standards Codification -Section 50 -Paragraph 13 -Subparagraph (a) -SubTopic 10 -Topic 606 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-13 + Details
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