Note 4 - Summary of Significant Accounting Policies - Contract liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Balance	$ 1,245	$ 1,436
Exchange translation adjustment	(105)	34
Revenue recognized from beginning contract liability balance	(1,104)	(1,390)
Advances received from customers related to unsatisfied performance obligations	703	1,165
Balance	$ 739	$ 1,245