Note 4 - Revenue - Future Performance Obligations 2 (Details) $ in Thousands	Dec. 31, 2021 USD ($)
Revenue related to future performance obligation	$ 170,613	[1]
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01
Revenue related to future performance obligation	$ 39,697	[1]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01
Revenue related to future performance obligation	$ 31,934	[1]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Revenue related to future performance obligation	$ 31,204	[1]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01
Revenue related to future performance obligation	$ 28,996	[1]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01
Revenue related to future performance obligation	$ 19,948	[1]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2027-01-01
Revenue related to future performance obligation	$ 18,834	[1]
Expected Timing of Satisfaction, Period (Year)

[1] Excluded from the table is revenue that is either constrained or related to performance obligations that are wholly unsatisfied as of December 31, 2021.