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Note 3 - Revenue (Details Textual) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Other Current Liabilities [Member] | Maintenance [Member]    
Contract with Customer, Liability, Current $ 6.7 $ 5.9
Other Liabilities [Member] | Maintenance [Member]    
Contract with Customer, Liability, Noncurrent $ 3.3 $ 3.4
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