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Note 5 - Revenue from Contracts with Customers 1 (Details Textual) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer, Excluding Assessed Tax $ 1,196 $ 2,158 $ 4,380 $ 4,546 $ 6,012 $ 4,247 $ 0
Contract with Customer, Liability, Revenue Recognized     $ 1,500 $ 900 $ 900 $ 500