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Note 13 - Revenues - Deferred Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred revenue	$ 4,508	$ 3,370	$ 4,266
Deferred Revenue, change	1,138	(896)
Service [Member]
Deferred revenue	2,849	1,530	1,976
Deferred Revenue, change	1,319	(446)
Customer Advances [Member]
Deferred revenue	1,659	1,840	$ 2,290
Deferred Revenue, change	$ (181)	$ (450)

X

- Definition

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

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
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-URI https://asc.fasb.org//1943274/2147479837/606-10-45-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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Reference 3: http://www.xbrl.org/2003/role/disclosureRef
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Amount of increase (decrease) in obligation to transfer good or service to customer for which consideration has been received or is receivable.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 912
-SubTopic 310
-Name Accounting Standards Codification
-Section 45
-Paragraph 11
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