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Note 2 - Revenue Recognition - Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
Contract with customer liability, balance $ 3,642 $ 3,593
Trade Receivables [Member]    
Contract with customer asset, balance 11,066 9,971
Accrued Revenues [Member] | Licensing and Other [Member]    
Contract with customer asset, balance 5,269 6,745
Accrued Revenues [Member] | Royalty [Member]    
Contract with customer asset, balance 11,972 9,440
Deferred Revenue [Member]    
Contract with customer liability, balance $ 3,642 $ 3,593