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Note 9 - Revenue 1 (Details Textual) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Increase (Decrease) in Revenue from Contract with Customers, Including Assessed Tax $ 0.8 $ 0.6 $ 2.1 $ 0.2
Contract with Customer, Liability, Revenue Recognized 0.9 $ 4.3 5.1 $ 8.4
Revenue, Remaining Performance Obligation, Amount $ 195.0   $ 195.0