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Note 11 - Revenue 1 (Details Textual) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Increase (Decrease) in Revenue from Contract with Customers, Including Assessed Tax $ 200 $ 0 $ 200 $ 2,100
Contract with Customer, Liability, Revenue Recognized 2,800 $ 1,500 2,600 $ 6,200
Revenue, Remaining Performance Obligation, Amount $ 295,000   $ 295,000