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Note 11 - Revenues - Changes in Deferred Revenue (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Balance, beginning of period $ 3,771 $ 3,949
Deferral of revenue 1,592 531
Recognition of deferred revenue (1,723) (821)
Effect of foreign currency translation (3) 14
Balance, end of period 3,637 3,673
Service [Member]    
Balance, beginning of period 1,629 1,587
Deferral of revenue 1,251 308
Recognition of deferred revenue (1,165) (499)
Effect of foreign currency translation (3) 14
Balance, end of period 1,712 1,410
Customer Advances [Member]    
Balance, beginning of period 2,142 2,362
Deferral of revenue 341 223
Recognition of deferred revenue (558) (322)
Effect of foreign currency translation 0 0
Balance, end of period $ 1,925 $ 2,263