Note 2 - Contracts With Customers - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Revenue	$ 35,021	$ 36,161	$ 70,334	$ 72,634
Transferred over Time [Member] \| Subscription Services [Member]
Revenue	33,103	34,306	66,374	68,739
Transferred over Time [Member] \| Fixed, Non-subscription Services [Member]
Revenue	936	742	1,431	1,397
Transferred over Time [Member] \| Unit Price Services [Member]
Revenue	127	210	253	419
Transferred at Point in Time [Member] \| Service [Member]
Revenue	$ 855	$ 903	$ 2,276	$ 2,079

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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+ Details