Note 16 - Contingencies (Details Textual) $ in Millions	12 Months Ended
Dec. 31, 2022 USD ($)
Estimated Litigation Liability	$ 2.9
System Partially Designed Not Operating As Intended [Member]
Loss Contingency, Estimated Maximum Damages, Value	3.3
Litigation Insurance Deductible	0.5
Litigation Insurance, Maximum Coverage	$ 5.0

Aggregate carrying amount of the estimated litigation liability for known or estimated probable loss from litigation, which may include attorneys' fees and other litigation costs.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 450
-SubTopic 20
-Section 50
-Paragraph 1
-URI https://asc.fasb.org/extlink&oid=121557415&loc=d3e14326-108349

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.25)
-URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682

Name:	us-gaap_LitigationReserve
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant