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Note 3 - Revenue - Timing of Revenue Recognition (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Revenues | $ 5,461 | $ 6,368 | $ 12,748 | $ 11,903
Transferred at Point in Time [Member] |  |  |  |
Revenues | 2,904 | 4,402 | 7,209 | 8,096
Transferred over Time [Member] |  |  |  |
Revenues | $ 2,557 | $ 1,966 | $ 5,539 | $ 3,807

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