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Note 5 - Revenue from Contracts with Customers (Details Textual) $ in Thousands	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
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
Revenue Benchmark [Member] | Customer Concentration Risk [Member]
Number of Major Customers		1		1	2	1
Revenue Benchmark [Member] | Customer Concentration Risk [Member] | Two Customers [Member]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 900		$ 4,400	$ 3,800	$ 4,800
Revenue Benchmark [Member] | Customer Concentration Risk [Member] | Two Customers [Member] | Minimum [Member]
Concentration Risk, Percentage	10.00%		10.00%	10.00%	10.00%
Revenue Benchmark [Member] | Customer Concentration Risk [Member] | One Customer [Member]
Revenue from Contract with Customer, Excluding Assessed Tax		$ 1,700				$ 3,900
Revenue Benchmark [Member] | Customer Concentration Risk [Member] | One Customer [Member] | Minimum [Member]
Concentration Risk, Percentage		10.00%				10.00%
Transferred over Time [Member]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 413	$ 0	$ 1,236	$ 1,524	$ 1,600	$ 3,800
Transferred at Point in Time [Member]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 783	$ 2,158	$ 3,144	$ 3,022	$ 4,400	$ 400

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- Definition

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No definition available.

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For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

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Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

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Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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