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Note 3 - Revenue From Contracts With Customers (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Contract with Customer, Liability $ 858,000   $ 858,000   $ 443,000
Contract with Customer, Liability, Revenue Recognized $ 157,000 $ 102,000 $ 431,000 $ 335,000  
Minimum [Member]          
Capitalized Contract Cost, Amortization Period (Month) 12 months   12 months    
Maximum [Member]          
Capitalized Contract Cost, Amortization Period (Month) 60 months   60 months