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Note 3 - Revenue from Contracts with Customers 1 (Details Textual) - USD ($)
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Revenue, Remaining Performance Obligation, Amount $ 8,769,000  
Contract with Customer, Asset, Net, Current, Total 906,000 $ 839,000
Contract with Customer, Liability, Total 7,504,000  
Contract with Customer, Liability, Current 5,769,000 8,369,000
Contract with Customer, Liability, Revenue Recognized 5,109,000 1,121,000
Other Current Assets [Member]    
Contract with Customer, Asset, Net, Current, Total 906,000 839,000
Accrued Liabilities [Member]    
Contract with Customer, Liability, Current 5,769,000 $ 8,369,000
Other Noncurrent Liabilities [Member]    
Contract with Customer, Liability, Noncurrent $ 1,735,000