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Note 3 - Revenue (Details Textual) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Contract with Customer, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price and Input Costs $ 16.2  
Contract with Customer, Liability, Revenue Recognized $ 1.7 $ 0.8