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Note 3 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Revenue, Remaining Performance Obligation, Amount | $ 100,891,000 |
Contract with Customer, Asset, after Allowance for Credit Loss, Current | 4,638,000 | $ 2,393,000
Contract with Customer, Liability | 53,537,000 | 40,391,000
Contract with Customer, Liability, Current | 49,738,000 | 27,909,000
Contract with Customer, Liability, Noncurrent | 3,799,000 | 12,482,000
Contract with Customer, Liability, Revenue Recognized from Contract Liabilities | 19,919,000 | 14,165,000
Other Current Assets [Member] |  |
Contract with Customer, Asset, after Allowance for Credit Loss, Current | 4,638,000 | 2,393,000
Accrued Liabilities [Member] |  |
Contract with Customer, Liability, Current | 49,738,000 | 27,909,000
Other Noncurrent Liabilities [Member] |  |
Contract with Customer, Liability, Noncurrent | $ 3,799,000 | $ 12,482,000

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- Definition Amount of revenue recognized from contract liabilities that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due. + References No definition available. + Details
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- Definition Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 3 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-3 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 1 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-1 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-8 + Details
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- Definition Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 1 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-8 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 45 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479837/606-10-45-2 + Details
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