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Note 3 - Revenue From Contracts With Customers (Details Textual) - USD ($)
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Contract with Customer, Liability $ 899,000   $ 443,000
Contract with Customer, Liability, Revenue Recognized $ 274,000 $ 223,000  
Minimum [Member]      
Capitalized Contract Cost, Amortization Period (Month) 12 months    
Maximum [Member]      
Capitalized Contract Cost, Amortization Period (Month) 60 months