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Note 3 - Revenue 1 (Details Textual) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Contract with Customer, Liability, Revenue Recognized     $ 3.7 $ 8.2
Non-US [Member]        
Percentage Revenue By Location 25.00% 28.00%