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Note 4 - Revenue Disaggregation (Details Textual) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Contract with Customer, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price and Input Costs $ 1,700,000  
Increase (Decrease) in Contract with Customer, Asset $ 533,007 $ 1,240,143