Note 11 - Revenues - Deferred Revenue (Details) - USD ($) $ in Thousands	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Deferred revenue	$ 4,005		$ 3,370
Deferred revenue, change	$ 635	$ (551)
Deferred revenue, % change	19.00%
Service [Member]
Deferred revenue	$ 2,234		1,530
Deferred revenue, change	$ 704
Deferred revenue, % change	46.00%
Customer Advances [Member]
Deferred revenue	$ 1,771		$ 1,840
Deferred revenue, change	$ (69)
Deferred revenue, % change	(4.00%)

Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479837/606-10-45-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479806/606-10-50-8

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 2
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479837/606-10-45-2

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant