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Note 16 - Segment and Related Information (Tables) | 12 Months Ended
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Dec. 31, 2022
Notes Tables |
Revenue from External Customers by Geographic Areas [Table Text Block] |
|  | Year Ended December 31, |
(in thousands) |  | 2022 |  |  | 2021 |
United States |  | $ | 49,912 |  |  | $ | 49,831 |
Europe |  |  | 30,687 |  |  |  | 35,767 |
Greater China |  |  | 16,393 |  |  |  | 13,496 |
Rest of the world |  |  | 16,343 |  |  |  | 19,810 |
Total revenues |  | $ | 113,335 |  |  | $ | 118,904 |
Schedule of Disclosure on Geographic Areas, Long-Lived Assets in Individual Foreign Countries by Country [Table Text Block] |
|  | December 31, |
(in thousands) |  | 2022 |  |  | 2021 |
United States |  | $ | 26,051 |  |  | $ | 31,512 |
Germany |  |  | 2,432 |  |  |  | 3,501 |
Rest of the world |  |  | 1,489 |  |  |  | 2,446 |
Total long-lived assets |  | $ | 29,972 |  |  | $ | 37,459 |
Schedule of Net Assets By Geographic Areas [Table Text Block] |
|  | December 31, |
(in thousands) |  | 2022 |  |  | 2021 |
United States |  | $ | 34,408 |  |  | $ | 38,641 |
Germany |  |  | 14,761 |  |  |  | 15,501 |
United Kingdom |  |  | 10,116 |  |  |  | 13,999 |
Rest of the world |  |  | 12,935 |  |  |  | 15,260 |
Total net assets |  | $ | 72,220 |  |  | $ | 83,401 |

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