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Note 3 - Revenue 1 (Details Textual)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Percentage of Revenue Transferred to Customers 82.20% 84.60% 79.30% 86.10%
Revenue Remaining Performance Obligation, Customers Upon Shipment With Payment Terms (Day)     120 days