Note 10 - Revenue (Details Textual 1) $ in Millions	Mar. 31, 2021 USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2021-04-01
Disaggregation Of Revenue [Line Items]
Unrecognized revenue from unsatisfied performance obligations	$ 70
Unsatisfied performance obligations, expected to be recognized	25.00%
Unsatisfied performance obligations, expected timing of satisfaction	9 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2022-01-01
Disaggregation Of Revenue [Line Items]
Unsatisfied performance obligations, expected to be recognized	25.00%
Unsatisfied performance obligations, expected timing of satisfaction	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2023-01-01
Disaggregation Of Revenue [Line Items]
Unsatisfied performance obligations, expected to be recognized	20.00%
Unsatisfied performance obligations, expected timing of satisfaction	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2024-01-01
Disaggregation Of Revenue [Line Items]
Unsatisfied performance obligations, expected to be recognized	30.00%
Unsatisfied performance obligations, expected timing of satisfaction