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Note 7 - Contract Assets and Liabilities (Details Textual) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Contract With Customer Liability, Revenue Recognized Including Opening Balance | $ 5.8 | $ 3.5 | $ 181.4 | $ 117.5 |
Contract with Customer, Liability, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price | 37.2 | 55.5 | 153.6 | 149.3 |
Aggregate Affirmative Claim Recovery Estimate Included in Contract Asset and Liability | $ 40.4 | $ 29.2 | $ 40.4 | $ 29.2 | $ 37.7

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- Definition Aggregate affirmative claim recovery estimate included in contract asset and liability balances. + References No definition available. + Details
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- Definition The amount of revenue recognized including opening balance of contract with customer liability. + References No definition available. + Details
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- Definition Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in estimate of transaction price which (increases) decreases obligation to transfer good or service to customer for which consideration from customer has been received or is due. Includes, but is not limited to, change in assessment of whether estimate of variable consideration is constrained. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 10 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123351226&loc=SL49130551-203045 + Details
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