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Note 3 - Revenue Recognition 1 (Details Textual) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2022
Contract with Customer, Liability, Revenue Recognized $ 100 $ 100 $ 300 $ 300        
Contract with Customer, Liability 754   754   $ 711 $ 800 $ 500 $ 500
Accounts Receivable, Allowance for Credit Loss $ 1,600   $ 1,600   $ 1,600      
Accounts Receivable [Member] | Customer Concentration Risk [Member]                
Number of Major Customers     3   1      
Accounts Receivable [Member] | Customer Concentration Risk [Member] | Customer One [Member]                
Concentration Risk, Percentage     0.26%          
Accounts Receivable [Member] | Customer Concentration Risk [Member] | Customer Two [Member]                
Concentration Risk, Percentage     0.13%          
Accounts Receivable [Member] | Customer Concentration Risk [Member] | Customer Three [Member]                
Concentration Risk, Percentage     0.11%          
Accounts Receivable [Member] | Customer Concentration Risk [Member] | One Customer [Member]                
Concentration Risk, Percentage         0.83%