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Note 13 - Revenues - Changes in Deferred Revenue (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Balance, beginning of period $ 3,949 $ 3,820
Deferral of revenue 4,631 3,247
Recognition of deferred revenue (4,820) (3,127)
Effect of foreign currency translation 11 9
Balance, end of period 3,771 3,949
Service [Member]    
Balance, beginning of period 1,587 1,659
Deferral of revenue 3,329 2,152
Recognition of deferred revenue (3,298) (2,233)
Effect of foreign currency translation 11 9
Balance, end of period 1,629 1,587
Customer Advances [Member]    
Balance, beginning of period 2,362 2,161
Deferral of revenue 1,302 1,095
Recognition of deferred revenue (1,522) (894)
Effect of foreign currency translation 0 0
Balance, end of period $ 2,142 $ 2,362