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Note 6 - Revenues (Details Textual) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Contract with Customer, Asset, after Allowance for Credit Loss, Total $ 0 $ 0
Revenue, Remaining Performance Obligation, Amount $ 375,100 $ 321,700
Revenue Remaining Performance Obligation, Current Percentage 99.00% 98.00%
Contract with Customer, Liability, Noncurrent $ 76,400 $ 69,700