Note 7 - Contract Assets and Liabilities (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Mar. 31, 2020
Contract with Customer, Receivable, after Allowance for Credit Loss, Total	$ 300	$ 300	$ 800
License [Member]
Contract with Customer, Liability, Noncurrent	1,500	1,633		$ 2,000
Contract with Customer, Liability, Revenue Recognized	$ 100	$ 100