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Note 6 - Contract Assets and Contract Liabilities (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2018
Increase (Decrease) in Contract with Customer, Asset $ (175,000) $ 106,000
Contract with Customer, Liability, Revenue Recognized 219,000 549,000
Contract with Customer, Liability, Consideration Received in Advance $ 1,100,000 $ 1,100,000