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Note 3 - Supplemental Balance Sheet Information (in Thousands) - Accounts Receivable (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Accounts receivable	$ 47,477	$ 49,737
Less allowance for doubtful accounts	(563)	(438)
Accounts Receivable, net	46,914	49,299
Trade Accounts Receivable [Member]
Accounts receivable	37,502	38,558
Unbilled [Member]
Accounts receivable	7,369	8,423
Non-Trade [Member]
Accounts receivable	$ 2,606	$ 2,756

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