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Note 3 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Revenue, Remaining Performance Obligation, Amount $ 44,602,000  
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 1,913,000 $ 1,240,000
Contract with Customer, Liability, Total 19,888,000 7,339,000
Contract with Customer, Liability, Current 15,013,000 6,816,000
Contract with Customer, Liability, Noncurrent 4,875,000 523,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities 6,400,000 7,619,000
Other Current Assets [Member]    
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total 1,913,000 1,240,000
Accrued Liabilities [Member]    
Contract with Customer, Liability, Current 15,013,000 6,816,000
Other Noncurrent Liabilities [Member]    
Contract with Customer, Liability, Noncurrent $ 4,875,000 $ 523,000