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Note 13 - Revenue and Geographic Information - Total Revenue by Geographic Location (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue	$ 156,236	$ 147,794	$ 130,457
Percent of revenue	100.00%	100.00%	100.00%
UNITED STATES
Revenue	$ 119,151	$ 113,833	$ 103,182
Percent of revenue	76.00%	77.00%	79.00%
Europe [Member]
Revenue	$ 20,639	$ 19,580	$ 14,179
Percent of revenue	13.00%	13.00%	11.00%
Other Location [Member]
Revenue	$ 16,446	$ 14,381	$ 13,096
Percent of revenue	11.00%	10.00%	10.00%

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