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Note 3 - Revenue 1 (Details Textual) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Contract with Customer, Liability, Revenue Recognized     $ 4.4 $ 4.4
Non-US [Member]        
Percentage Revenue By Location 29.00% 30.00%