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Note 1 - Significant Accounting Policies 2 (Details Textual) - Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-04-01 - USD ($)	Mar. 31, 2020	Dec. 31, 2019
Maintenance [Member]
Revenue, Remaining Performance Obligation, Amount	$ 2,199,000
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period (Year)	1 year
Service, Other [Member]
Revenue, Remaining Performance Obligation, Amount	$ 113,000
Service, Other [Member] | Minimum [Member]
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period (Year)		1 year
Service, Other [Member] | Maximum [Member]
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period (Year)		3 years

X

- Definition

Amount of transaction price allocated to performance obligation that has not been recognized as revenue.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 13
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130556-203045

+ Details

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

X

- Definition

Period in which remaining performance obligation is expected to be recognized as revenue, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 13
-Subparagraph (b)(1)
-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130556-203045

+ Details

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Period Type:	instant

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- Details

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Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

X

- Details

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Namespace Prefix:
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Balance Type:
Period Type:

X

- Details

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Namespace Prefix:
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Period Type:

X

- Details

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Namespace Prefix:
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X

- Details

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