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Note 2 - Revenue (Tables)
12 Months Ended
Dec. 31, 2019
Notes Tables  
Disaggregation of Revenue [Table Text Block]
   
Year Ended December 31,
 
   
2019
   
2018
 
Over time
   
66
%    
63
%
Point-in-time
   
34
%    
37
%
Total
   
100
%    
100
%