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Note 4 - Revenue From Contracts With Customers (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2019
Mar. 31, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Contract with Customer, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price and Input Costs $ (61,000)   $ (445,000) $ (231,000) $ (495,000)
Increase (Decrease) in Contract with Customer, Asset   $ 300,000   $ 296,670 $ (3,082,808)