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Note 3 - Revenue (Details Textual) - USD ($) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020
Contract with Customer, Liability, Current | $ 7.7 | $ 5.9
Other Current Liabilities [Member] | Maintenance [Member] |  |
Contract with Customer, Liability, Current | 7.7 | 5.9
Other Liabilities [Member] | Maintenance [Member] |  |
Contract with Customer, Liability, Noncurrent | $ 3.5 | $ 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 |

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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=123360276&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=123360276&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=123351226&loc=SL49130549-203045 + Details
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