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Note 3 - Revenue 1 (Details Textual) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Contract with Customer, Liability, Revenue Recognized $ 4.5 $ 4.4  
Non-US [Member]      
Percentage Revenue By Location 29.00% 31.00% 34.00%