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Note 3 - Revenues - Deferred Revenue (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Deferred revenue $ 4,010   $ 4,508
Deferred Revenue, change $ (498) $ 445  
Deferred revenue, % change (11.00%)    
Service, Maintenance, and Warranty Contracts [Member]      
Deferred revenue $ 2,534   2,849
Deferred Revenue, change $ (315)    
Deferred revenue, % change (11.10%)    
Customer Advances [Member]      
Deferred revenue $ 1,476   $ 1,659
Deferred Revenue, change $ (183)    
Deferred revenue, % change (11.00%)