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Note 8 - Revenue 1 (Details Textual) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Contract with Customer, Liability $ 51   $ 51
Contract with Customer, Liability, Revenue Recognized 21   20
Contract with Customer, Cash Payments Received for Liabilities That Have Been Deferred 21 $ 24  
Revenue, Remaining Performance Obligation, Amount 50    
Other Current Assets [Member]      
Contract with Customer, Asset, after Allowance for Credit Loss, Current 1   1
Other Current Liabilities [Member]      
Contract with Customer, Liability 40   40
Other Noncurrent Liabilities [Member]      
Contract with Customer, Liability $ 11   $ 11