Note 10 - Revenue and Geographic Information - Total Revenue by Geographic Location (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue	$ 41,465	$ 40,264	$ 123,691	$ 116,614
Percentage of Revenue	100.00%	100.00%	100.00%	100.00%
UNITED STATES
Revenue	$ 30,831	$ 31,093	$ 90,986	$ 87,552
Percentage of Revenue	74.00%	77.00%	74.00%	75.00%
Europe [Member]
Revenue	$ 5,420	$ 4,885	$ 16,757	$ 15,973
Percentage of Revenue	13.00%	12.00%	13.00%	14.00%
Other Location [Member]
Revenue	$ 5,214	$ 4,286	$ 15,948	$ 13,089
Percentage of Revenue	13.00%	11.00%	13.00%	11.00%

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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+ Details