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Note 2 - Revenue Recognition (Details Textual) - USD ($)
Jun. 30, 2018
Mar. 31, 2018
Jan. 01, 2018
Dec. 31, 2017
Jun. 30, 2017
Mar. 31, 2017
Dec. 31, 2016
Deferred Revenue $ 11,807,000 $ 11,015,000   $ 11,656,000 $ 10,013,000 $ 9,555,000 $ 9,431,000
Accounting Standards Update 2014-09 [Member]              
Deferred Revenue     $ 237,000        
Extended Product Warranty Accrual, Ending Balance     151,000        
Variable Consideration     210,000        
Capitalized Contract Cost, Net, Total     4,700,000        
Deferred Tax Liabilities, Net, Noncurrent     1,200,000        
Accounting Standards Update 2014-09 [Member] | Retained Earnings [Member]              
Cumulative Effect of New Accounting Principle in Period of Adoption     $ 3,800,000