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Note 3 - Revenue From Contracts With Customers (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Percentage of Support and Maintenance Revenue to License Cost     18.00%    
Contract with Customer, Liability, Total $ 660,000   $ 660,000   $ 633,000
Contract with Customer, Liability, Revenue Recognized $ 153,000 $ 124,000 $ 387,000 $ 430,000  
Minimum [Member]          
Capitalized Contract Cost, Amortization Period (Month) 12 months   12 months    
Maximum [Member]          
Capitalized Contract Cost, Amortization Period (Month) 60 months   60 months