Note 10 - Revenue and Geographic Information - Total Revenue by Geographic Location (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Revenue	$ 37,924	$ 36,693
Percentage of Revenue	100.00%	100.00%
UNITED STATES
Revenue	$ 27,288	$ 26,773
Percentage of Revenue	72.00%	73.00%
Europe [Member]
Revenue	$ 5,662	$ 5,796
Percentage of Revenue	15.00%	16.00%
Other Location [Member]
Revenue	$ 4,974	$ 4,124
Percentage of Revenue	13.00%	11.00%