Note 4 - Revenue Recognition (Details Textual) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022	Dec. 31, 2021
Contract with Customer, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price and Input Costs	$ 10,100
Contract with Customer, Liability	1,261		$ 4,100	$ 1,700
Contract with Customer, Liability, Revenue Recognized	$ 2,900	$ 1,200