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Note 8 - Revenue 1 (Details Textual) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Increase (Decrease) in Revenue from Contract with Customers, Including Assessed Tax $ 0.8 $ 1.3
Contract with Customer, Liability, Revenue Recognized   $ 4.7
Revenue, Remaining Performance Obligation, Amount $ 200.0