Note 3 - Revenue Recognition - Schedule of Disaggregated Revenue By Major Product Line in Single Reporting Segment (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Revenue	$ 7,843	$ 7,411
Commercial [Member]
Revenue	3,883	3,839
The Government [Member]
Revenue	3,960	3,572
Subscription [Member]
Revenue	3,885	3,791
Subscription [Member] | Commercial [Member]
Revenue	3,585	3,491
Subscription [Member] | The Government [Member]
Revenue	300	300
Service [Member]
Revenue	3,958	3,620
Service [Member] | Commercial [Member]
Revenue	298	348
Service [Member] | The Government [Member]
Revenue	$ 3,660	$ 3,272