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Note 3 - Revenue from Contracts with Customers 1 (Details Textual) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Revenue, Remaining Performance Obligation, Amount $ 30,324,000  
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 1,240,000 $ 906,000
Contract with Customer, Liability, Total 7,339,000 7,504,000
Contract with Customer, Liability, Current 6,816,000 5,769,000
Contract with Customer, Liability, Revenue Recognized From Contract Liabilities 7,619,000 5,109,000
Other Current Assets [Member]    
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 1,240,000 906,000
Accrued Liabilities [Member]    
Contract with Customer, Liability, Current 6,816,000 5,769,000
Other Noncurrent Liabilities [Member]    
Contract with Customer, Liability, Noncurrent $ 523,000 $ 1,735,000