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Note 3 - Revenue (Details Textual) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2022
Dec. 31, 2021
Other Current Liabilities [Member] | Maintenance [Member]    
Contract with Customer, Liability, Current $ 8.7 $ 7.7
Other Liabilities [Member] | Maintenance [Member]    
Contract with Customer, Liability, Noncurrent $ 3.5 $ 3.5
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