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Note 18 - Segment and Geographic Information (Tables)
12 Months Ended
Dec. 31, 2022
Notes Tables  
Schedule of Revenue from External Customers and Long-Lived Assets, by Geographical Areas [Table Text Block]
  

Year Ended December 31,

 
  

2022

  

2021

 

United States

 $52,101  $51,400 

International

  47,396   54,222 

Total revenue

 $99,497  $105,622 
Revenue from External Customers by Products and Services [Table Text Block]
  

Year Ended December 31,

 
  

2022

  

2021

 

Lease revenue

 $35,267  $45,094 

System revenue

  47,906   43,106 

Product revenue

  13,316   13,230 

Service revenue

  3,008   4,192 

Total revenue

 $99,497  $105,622