Note 4 - Revenue Recognition 1 (Details Textual) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2023	Jun. 30, 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	$ 4,500
Contract with Customer, Liability	4,702		$ 4,000	$ 1,700
Contract with Customer, Liability, Revenue Recognized	$ 2,600	$ 1,600