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Note 4 - Revenue Disaggregation (Details Textual) - USD ($)
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Contract with Customer, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price and Input Costs $ 5,700,000  
Increase (Decrease) in Contract with Customer, Asset 1,133,887 $ 480,889
Approximation [Member]    
Increase (Decrease) in Contract with Customer, Asset $ 1,100,000 $ 5,000,000