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Note 13 - Revenues - Changes in Deferred Revenue (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019
Balance, beginning of period | $ 3,949 | $ 3,820
Deferral of revenue | 4,631 | 3,247
Recognition of deferred revenue | (4,820) | (3,127)
Effect of foreign currency translation | 11 | 9
Balance, end of period | 3,771 | 3,949
Service [Member] |  |
Balance, beginning of period | 1,587 | 1,659
Deferral of revenue | 3,329 | 2,152
Recognition of deferred revenue | (3,298) | (2,233)
Effect of foreign currency translation | 11 | 9
Balance, end of period | 1,629 | 1,587
Customer Advances [Member] |  |
Balance, beginning of period | 2,362 | 2,161
Deferral of revenue | 1,302 | 1,095
Recognition of deferred revenue | (1,522) | (894)
Effect of foreign currency translation | 0 | 0
Balance, end of period | $ 2,142 | $ 2,362

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- Definition Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130531-203044 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 8 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130549-203045 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130532-203044 + Details
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- Definition Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in estimate of transaction price which (increases) decreases obligation to transfer good or service to customer for which consideration from customer has been received or is due. Includes, but is not limited to, change in assessment of whether estimate of variable consideration is constrained. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 10 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130551-203045 + Details
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