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Note 3 - Revenues - Deferred Revenue (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Deferred revenue $ 3,689   $ 4,508
Deferred Revenue, change $ (819) $ 635  
Deferred revenue, % change (18.20%)    
Service, Maintenance, and Warranty Contracts [Member]      
Deferred revenue $ 2,472   2,849
Deferred Revenue, change $ (377)    
Deferred revenue, % change (13.20%)    
Customer Advances [Member]      
Deferred revenue $ 1,217   $ 1,659
Deferred Revenue, change $ (442)    
Deferred revenue, % change (26.60%)