Note 2 - Revenue Recognition (Details Textual) - USD ($)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Revenue from Contract with Customer, Excluding Assessed Tax	$ 8,141,000	$ 9,732,000
Contract with Customer, Asset, Credit Loss Expense (Reversal)	0	0
Capitalized Contract Cost, Amortization	11,250	4,000
Capitalized Contract Cost, Impairment Loss	$ 0	0
Minimum [Member]
Customer Payment Terms (Day)	30 days
Maximum [Member]
Customer Payment Terms (Day)	60 days
Transferred at Point in Time [Member]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 7,400,000	9,300,000
Transferred over Time [Member]
Revenue from Contract with Customer, Excluding Assessed Tax	$ 700,000	$ 400,000