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Note 3 - Revenue From Contracts With Customers 1 (Details Textual) - USD ($)
 12 Months Ended
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