Note 8 - Contract Assets and Liabilities (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Mar. 31, 2020
Contract with Customer, Receivable, after Allowance for Credit Loss, Total	$ 400	$ 300	$ 300
License [Member]
Contract with Customer, Liability, Noncurrent	1,367	1,500		$ 2,000
Contract with Customer, Liability, Revenue Recognized	$ 100	$ 100