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Note 4 - Revenue Disaggregation (Details Textual) - USD ($)
6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Contract with Customer, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price and Input Costs $ 12,800,000  
Contract with Customer, Liability, Total 3,296,062  
Transferred over Time [Member]    
Contract with Customer, Liability, Total $ 1,700,000 $ 6,000,000