Note 14 - Revenue (Details Textual) - USD ($)	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Deferred Revenue	$ 422,000	$ 558,000
Deferred Revenue, Revenue Recognized	$ 242,000

Amount of deferred income and obligation to transfer product and service to customer for which consideration has been received or is receivable.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 210
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02(26)(c))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1

Name:	us-gaap_DeferredRevenue
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant