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Note 3 - Revenues - Deferred Revenue (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Deferred revenue $ 4,388   $ 4,508
Deferred Revenue, change $ (120) $ 741  
Deferred revenue, % change (2.70%)    
Service, Maintenance, and Warranty Contracts [Member]      
Deferred revenue $ 2,748   2,849
Deferred Revenue, change $ (101)    
Deferred revenue, % change (3.50%)    
Customer Advances [Member]      
Deferred revenue $ 1,640   $ 1,659
Deferred Revenue, change $ (19)    
Deferred revenue, % change (1.10%)