https://voteview.com/congress/senate
If you scroll down to the list of all the Senators, there are blue-highlighted option links to sort the data - including the current ranking of the members. Plus they have this in tabular form here -
https://voteview.com/congress/senate/-1/text
From the tablular, the top 10 "liberals" were these -
1. WARREN, Elizabeth Democrat Massachusetts -0.757
2. HARRIS, Kamala Devi Democrat California -0.694
3. BOOKER, Cory Anthony Democrat New Jersey -0.615
4. BALDWIN, Tammy Democrat Wisconsin -0.522
5. SANDERS, Bernard Independent Vermont -0.521
6. MARKEY, Edward John Democrat Massachusetts -0.503
7. HIRONO, Mazie Democrat Hawaii -0.486
8. MERKLEY, Jeff Democrat Oregon -0.481
9. UDALL, Thomas (Tom) Democrat New Mexico -0.454
10. BROWN, Sherrod Democrat Ohio -0.438
https://voteview.com/congress/senate/-1/textThat site's "About" says this -
About the project
Voteview allows users to view every congressional roll call vote in American history on a map of the United States and on a liberal-conservative ideological map including information about the ideological positions of voting Senators and Representatives. The original Voteview of DOS was developed by Keith T. Poole and Howard Rosenthal at Carnegie-Mellon University between 1989 and 1992. Poole and Rosenthal developed Voteview for Windows in 1993 at Princeton University and that work was continued by Boris Shor. The legacy version of the website is available at legacy.voteview.com.
The new voteview.com combines the visualizations provided by the now obsolete Voteview desktop system, data and NOMINATE estimates provided by the old voteview.com web site, and up-to-date voting data from the current Congress with new search, download and visualization functionality.
Ideological positions are calculated using the DW-NOMINATE (Dynamic Weighted NOMINAl Three-step Estimation). This procedure was developed by Poole and Rosenthal in the 1980s and is a "scaling procedure", representing legislators on a spatial map. In this sense, a spatial map is much like a road map--the closeness of two legislators on the map shows how similar their voting records are. Using this measure of distance, DW-NOMINATE is able to recover the "dimensions" that inform congressional voting behavior.
The primary dimension through most of American history has been "liberal" vs. "conservative" (also referred to as "left" vs. "right" ). A second dimension picks up differences within the major political parties over slavery, currency, nativism, civil rights, and lifestyle issues during periods of American history.
More:
https://voteview.com/about
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