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Note 3 - Revenue (Details Textual) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2018
Mar. 31, 2017
Revenue, Remaining Performance Obligation, Amount Greater than What Has Been Recorded Prior to Adoption of New Standard $ 0.1  
Revenue, Remaining Performance Obligation, Amount 127.3  
Contract with Customer, Liability, Revenue Recognized $ 1.5  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period 1 year  
Foreign Countries [Member]    
Percentage Revenue By Location 33.00% 36.00%
Each Foreign Country [Member]    
Percentage Revenue By Location   5.00%
Revenue Threshold, Percentage 5.00%