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Note 17 - Segment and Geographic Information (Tables)
3 Months Ended
Mar. 31, 2023
Notes Tables  
Schedule of Revenue from External Customers and Long-Lived Assets, by Geographical Areas [Table Text Block]
  

Three Months Ended March 31,

 
  

2023

  

2022

 

United States

 $10,741  $13,129 

International

  9,790   13,277 

Total revenue

 $20,531  $26,406 
Revenue from External Customers by Products and Services [Table Text Block]
  

Three Months Ended March 31,

 
  

2023

  

2022

 

Lease revenue

 $5,761  $10,423 

System revenue

  11,065   11,875 

Product revenue

  2,947   3,497 

Service revenue

  758   611 

Total revenue

 $20,531  $26,406