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Note 2 - Revenue Recognition (Details Textual) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Contract with Customer, Liability, Revenue Recognized $ 3,360 $ 3,149
Deferred Revenue [Member]    
Contract with Customer, Liability, Revenue Recognized $ 1,700 $ 1,700