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Note 6 - Revenue (Details Textual) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Contract with Customer, Liability, Revenue Recognized $ 15.4 $ 6.3 $ 8.9
Other Current Liabilities [Member]      
Contract with Customer, Liability, Current $ 15.7