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Note 16 - Revenue - Contract With Customer Assets and Liabilities (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Balance, beginning of year $ 121,778 $ 107,170
Revenue recognized in advance of billings 291,812 306,095
Contract With Customer, Asset, Billings (293,356) (294,506)
Contract With Customer, Asset, Other 282 3,019
Balance, end of year 120,516 121,778
Balance, beginning of year 17,456 2,623
Contract With Customer, Liability, Billings 20,815 17,618
Revenue recognized (16,984) (2,663)
Contract With Customer, Liability, Other 163 (122)
Balance, end of year $ 21,450 $ 17,456