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Note 10 - Revenue 1 (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Increase (Decrease) in Revenue from Contract with Customers, Including Assessed Tax $ 0 $ (100,000) $ (1,500,000) $ 700,000
Contract with Customer, Liability, Revenue Recognized 900,000 $ 1,100,000 3,400,000 $ 2,500,000
Revenue, Remaining Performance Obligation, Amount $ 180,200,000   $ 180,200,000