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Note 8 - Contract Assets and Liabilities (Details Textual) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Contract with Customer, Liability, Revenue Recognized $ 3.5 $ 8.9 $ 117.5 $ 123.8  
Aggregate Affirmative Claim Recovery Estimate Included in Contract Asset and Liability 29.2 67.2 29.2 67.2 $ 71.1
Performance Obligations [Member]          
Contract with Customer, Liability, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price $ 99.7 $ 52.5 $ 214.4 $ 150.0