Note 2 - Revenue Recognition - Significant Changes in Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2022	Mar. 31, 2021
Transferred to receivables from contract assets outstanding at the beginning of the period	$ 45	$ 0
Revenue recognized that was included in deferred revenue at the beginning of the period	$ 205	$ 756

Amount of decrease in right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time from transfer to receivable due to right to consideration becoming unconditional.

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 10
-Subparagraph (d)
-URI https://asc.fasb.org/extlink&oid=126920106&loc=SL49130551-203045

Name:	us-gaap_ContractWithCustomerAssetReclassifiedToReceivable
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration