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Note 3 - Supplemental Balance Sheet Information (in Thousands) - Accounts Receivable (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Accounts receivable	$ 49,737	$ 46,675
Less allowance for doubtful accounts	(438)	(533)
Accounts Receivable, net	49,299	46,142
Trade Accounts Receivable [Member]
Accounts receivable	38,558	34,824
Unbilled [Member]
Accounts receivable	8,423	8,305
Non-Trade [Member]
Accounts receivable	$ 2,756	$ 3,546

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