Note 7 - Contract Assets and Liabilities (Details Textual) - USD ($) $ in Millions	3 Months Ended	9 Months Ended
Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Contract With Customer Liability, Revenue Recognized Including Opening Balance	$ 5.8	$ 3.5	$ 181.4	$ 117.5
Contract with Customer, Liability, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price	37.2	55.5	153.6	149.3
Aggregate Affirmative Claim Recovery Estimate Included in Contract Asset and Liability	$ 40.4	$ 29.2	$ 40.4	$ 29.2	$ 37.7

Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in estimate of transaction price which (increases) decreases obligation to transfer good or service to customer for which consideration from customer has been received or is due. Includes, but is not limited to, change in assessment of whether estimate of variable consideration is constrained.

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 10
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=123351226&loc=SL49130551-203045

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration