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Note 4 - Accounts Receivable, Transit Accounts Receivable and Transit Accounts Payable (Tables)
9 Months Ended
Sep. 30, 2017
Notes Tables  
Schedule of Accounts, Notes, Loans and Financing Receivable [Table Text Block]
   
September 30
,
2017
   
December 31
,
2016
 
Billed
  $
29,322
    $
34,463
 
Accrued and unbilled
   
8,911
     
6,894
 
Work-in-progress
   
4,770
     
5,215
 
Allowance for
sales discounts and doubtful accounts
   
(1,061
)
   
(1,402
)
                 
Accounts receivable, net
  $
41,942
    $
45,170