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Note 4 - Revenue (Details Textual)
$ in Millions
Jun. 30, 2024
USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01  
Revenue, Remaining Performance Obligation, Amount $ 18.4
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period (Year) 2 years
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01  
Revenue, Remaining Performance Obligation, Amount $ 10.1
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period (Year) 1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01  
Revenue, Remaining Performance Obligation, Amount $ 3.8
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period (Year) 1 year