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Note 13 - Commitments (Details Textual) - USD ($) | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Operating Leases, Rent Expense, Net, Total | $ 1,400,000 | $ 1,600,000 | $ 4,300,000 | $ 4,600,000
Operating Leases, Rent Expense, Sublease Rentals | $ 82,000 | $ 49,000 | $ 263,000 | $ 148,000

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- Definition Rental expense for the reporting period incurred under operating leases, including minimum and any contingent rent expense, net of related sublease income. + References Reference 1: http://fasb.org/us-gaap/role/ref/otherTransitionRef -Publisher FASB -Name Accounting Standards Codification -Topic 840 -SubTopic 20 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=121573735&loc=d3e41499-112717 + Details
Name: | us-gaap_OperatingLeasesRentExpenseNet
Namespace Prefix: | us-gaap_
Data Type: | xbrli:monetaryItemType
Balance Type: | debit
Period Type: | duration

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- Definition The total amount of sublease rental income recognized during the period that reduces the entity's rent expense incurred under operating leases. + References Reference 1: http://fasb.org/us-gaap/role/ref/otherTransitionRef -Publisher FASB -Name Accounting Standards Codification -Topic 840 -SubTopic 10 -Section 55 -Paragraph 40 -Subparagraph (Note 3) -URI http://asc.fasb.org/extlink&oid=121580752&loc=d3e38371-112697 + Details
Name: | us-gaap_OperatingLeasesRentExpenseSubleaseRentals1
Namespace Prefix: | us-gaap_
Data Type: | xbrli:monetaryItemType
Balance Type: | credit
Period Type: | duration