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Note 3 - Revenue 1 (Details Textual) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Contract with Customer, Liability, Revenue Recognized     $ 4.3 $ 3.8
Non-US [Member]        
Percentage Revenue By Location 31.00% 31.00%