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Note 3 - Revenue 1 (Details Textual)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Percentage of Revenue Transferred to Customers 82.00% 80.00% 80.00% 84.00%
Revenue Remaining Performance Obligation, Customers Upon Shipment With Payment Terms (Day)     120 days