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Note 3 - Revenue 1 (Details Textual)
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Percentage of Revenue Transferred to Customers 73.00% 74.00% 74.00% 74.00%
Revenue Remaining Performance Obligation, Customers Upon Shipment With Payment Terms     120 days