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Note 9 - Revenue 1 (Details Textual) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Increase (Decrease) in Revenue from Contract with Customers, Including Assessed Tax $ 0 $ 900 $ 2,100 $ 1,100
Contract with Customer, Liability, Revenue Recognized 1,500 $ 3,900 6,200 $ 11,200
Revenue, Remaining Performance Obligation, Amount $ 191,000   $ 191,000