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Note 11 - Revenues - Changes in Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Balance	$ 3,637	$ 3,673	$ 3,771	$ 3,949
Deferral of revenue	1,310	1,298	2,902	1,829
Recognition of deferred revenue	(1,279)	(1,289)	(3,002)	(2,110)
Effect of foreign currency translation	7	(30)	4	(16)
Balance	3,675	3,652	3,675	3,652
Service [Member]
Balance	1,712	1,410	1,629	1,587
Deferral of revenue	988	1,177	2,239	1,485
Recognition of deferred revenue	(846)	(1,144)	(2,011)	(1,643)
Effect of foreign currency translation	7	(30)	4	(16)
Balance	1,861	1,413	1,861	1,413
Customer Advances [Member]
Balance	1,925	2,263	2,142	2,362
Deferral of revenue	322	121	663	344
Recognition of deferred revenue	(433)	(145)	(991)	(467)
Effect of foreign currency translation	0	0	0	0
Balance	$ 1,814	$ 2,239	$ 1,814	$ 2,239

X

- Definition

Amount of deferred income and obligation included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

+ References

No definition available.

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X

- Definition

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+ References

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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=123360276&loc=SL49130531-203044

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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-Publisher FASB
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-Section 45
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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
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-Topic 606
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-Section 50
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