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Note 3 - Revenue 1 (Details Textual) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Revenue from Contract with Customer, Excluding Assessed Tax, Total | $ 1,001.0 | $ 1,137.6 | $ 1,123.5
Contract with Customer, Liability, Current | $ 5.9 | 6.8 |
Short-term Contract with Customer [Member] |  |  |
Standard Prepaid Maintenance Contract Time Period (Month) | 12 months |  |
Long-term Contract with Customer [Member] |  |  |
Standard Prepaid Maintenance Contract Time Period (Month) | 60 months |  |
Equipment Sales [Member] |  |  |
Revenue from Contract with Customer, Excluding Assessed Tax, Total | $ 629.7 | 741.8 | 730.0
Maintenance [Member] | Other Current Liabilities [Member] |  |  |
Contract with Customer, Liability, Current | 5.9 | 6.8 |
Maintenance [Member] | Other Liabilities [Member] |  |  |
Contract with Customer, Liability, Noncurrent | 3.4 | 3.9 |
Parts and Consumables [Member] |  |  |
Revenue from Contract with Customer, Excluding Assessed Tax, Total | $ 205.8 | 221.9 | $ 222.3
Revision of Prior Period, Adjustment [Member] | Equipment Sales [Member] |  |  |
Revenue from Contract with Customer, Excluding Assessed Tax, Total |  | (0.9) |
Revision of Prior Period, Adjustment [Member] | Parts and Consumables [Member] |  |  |
Revenue from Contract with Customer, Excluding Assessed Tax, Total |  | $ 0.9 |

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- Definition Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as current. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130531-203044 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130532-203044 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 8 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130549-203045 + Details
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