Note 3 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue	$ 151,568	$ 147,954	$ 133,277
Transferred over Time [Member] | Subscription Services [Member]
Revenue	141,981	137,008	122,499
Transferred over Time [Member] | Fixed, Non-subscription Services [Member]
Revenue	3,134	3,065	2,907
Transferred over Time [Member] | Unit Price Services [Member]
Revenue	2,222	4,665	4,939
Transferred at Point in Time [Member] | Service [Member]
Revenue	$ 4,231	$ 3,216	$ 2,932