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Note 3 - Revenue Recognition (Details Textual) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Deferred Revenue [Member]        
Contract with Customer, Liability, Revenue Recognized $ 0.1 $ 1.5 $ 2.0 $ 1.8