Note 1 - Business and Significant Accounting Policies - Contract Assets (Liabilities) (Details) - USD ($) $ in Thousands		12 Months Ended
		Dec. 31, 2019	Dec. 31, 2018
Contract assets (*)	[1]	$ 38,365	$ 42,130
Contract liabilities (*)	[1]	(2,755)	(18,402)
Contract assets, net		35,610	23,728
Recognition of contract liabilities as revenue as a result of performance obligations satisfied		12,675	33,349
Cash received in advance for which revenues have not yet recognized, net of expenditures made		(3,323)	(38,162)
Reduction of contract assets as a result of rights to consideration becoming unconditional		(130,918)	(128,659)
Contract assets recognized, net of recognized receivables		133,448	136,496
Net change in contract assets and contract liabilities		2,530	7,837
Net change in contract assets and contract liabilities		$ 9,352	$ (4,813)

[1] Contract assets and contract liabilities are presented as "Costs and estimated earnings in excess of billings on uncompleted contracts" and "Billings in excess of costs and estimated earnings on uncompleted contracts", respectively, on the consolidated balance sheets. The contract liabilities balance at the beginning of the year was fully recognized as product revenues during the years ended December 31, 2019 and 2018 as a result of performance obligations satisfied.