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Note 8 - Contract Assets and Liabilities (Details Textual) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Contract with Customer, Liability, Revenue Recognized $ 18.2 $ 17.5 $ 114.0 $ 114.6  
Aggregate Affirmative Claim Recovery Estimate Included in Contract Asset and Liability 60.0 61.0 60.0 61.0 $ 71.1
Performance Obligations [Member]          
Contract with Customer, Asset, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price $ 70.8 $ 58.6 $ 114.7 $ 97.5