Note 10 - Revenue and Geographic Information - Total Revenue by Geographic Location (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Revenue	$ 44,302	$ 39,657	$ 82,226	$ 76,350
Percentage of Revenue	100.00%	100.00%	100.00%	100.00%
UNITED STATES
Revenue	$ 32,867	$ 29,686	$ 60,155	$ 56,459
Percentage of Revenue	74.00%	75.00%	73.00%	73.00%
Europe [Member]
Revenue	$ 5,675	$ 5,292	$ 11,337	$ 11,088
Percentage of Revenue	13.00%	13.00%	14.00%	15.00%
Other Location [Member]
Revenue	$ 5,760	$ 4,679	$ 10,734	$ 8,803
Percentage of Revenue	13.00%	12.00%	13.00%	12.00%