Note 3 - Contracts With Customers - Information About Receivables, Contract Assets, and Contract Liabilities From Contracts With Customers (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Accounts receivables	$ 12,378	$ 14,461
Deferred revenue	14,834	15,198
Revenue recognized that was included in deferred revenue at beginning of year due to completion of services	(15,100)	(17,170)
Increases due to invoicing of client, net of amounts recognized as revenue	14,837	15,081
Decreases due to completion of services (or portion of services) and transferred to accounts receivable	(102)	(99)
Change due to cumulative catch-up adjustments arising from changes in expected contract consideration	(101)	74
Increases due to revenue recognized in the period with additional performance obligations before invoicing	84	102
Other Current Assets [Member]
Contract assets included in other current assets	$ 84	$ 102