Condensed Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	125,000,000	125,000,000
Common stock, shares issued (in shares)	50,895,235	50,554,179
Common stock, shares outstanding (in shares)	50,895,235	50,554,179
Trade Accounts Receivable [Member]
Allowance for credit losses	$ 14,758	$ 14,060