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Note 8 - Revenue (Details Textual 1)
$ in Millions
Mar. 31, 2022
USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2022-01-04  
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: 2023-01-01  
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: 2024-01-01  
Disaggregation Of Revenue [Line Items]  
Unsatisfied performance obligations, expected to be recognized 25.00%
Unsatisfied performance obligations, expected timing of satisfaction 2 years
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2026-01-01  
Disaggregation Of Revenue [Line Items]  
Unsatisfied performance obligations, expected to be recognized 25.00%
Unsatisfied performance obligations, expected timing of satisfaction