Note 2 - Revenue Recognition (Details Textual) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Jan. 01, 2021
Contract with Customer, Asset, Credit Loss Expense (Reversal)	$ 0	$ 0
Capitalized Contract Cost, Impairment Loss	0	0
Accounts Receivable, after Allowance for Credit Loss, Total			$ 6,177,000
Accounts Receivable, Allowance for Credit Loss, Ending Balance			$ 50,000
Capitalized Contract Cost, Amortization	$ 14,000	$ 61,000
Minimum [Member]
Customer Payment Terms (Day)	30 days
Maximum [Member]
Customer Payment Terms (Day)	60 days