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Note 6 - Contract Assets and Contract Liabilities (Details Textual) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2018
Sep. 30, 2018
Increase (Decrease) in Contract with Customer, Asset $ 49,000 $ 155,000
Contract with Customer, Liability, Revenue Recognized $ 329,000 987,000
Contract with Customer, Liability, Consideration Received in Advance   $ 1,200,000