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Note 8 - Revenue 1 (Details Textual) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Increase (Decrease) in Revenue from Contract with Customers, Including Assessed Tax $ 1.3 $ (0.4)
Contract with Customer, Liability, Revenue Recognized 4.7 $ 6.2
Revenue, Remaining Performance Obligation, Amount $ 178.0