Note 2 - Revenue Recognition - Significant Changes in Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2023
Balance at beginning of period	$ 262	$ 0
Revenue recognized	174	475
Amounts invoiced	(60)	(150)
Reclassifications and other	0	51
Balance at end of period	376	376
Balance at beginning of period	126	210
Revenue recognized	(125)	(420)
Amounts invoiced	80	240
Reclassifications and other	0	51
Balance at end of period	$ 81	$ 81