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Note 5 - Deferred Revenue (Tables)
 12 Months Ended
Dec. 31, 2019
Notes Tables  
Contract with Customer, Asset and Liability [Table Text Block]
   
December 31,
  
   
201
9
    
 
2018*
  
Balance at beginning of year
   $
12,566
     $
11,656
  
Add: Payments received
    
17,127
      
14,883
  
Less: Revenue deferred as of January 1, 2019    
(9,451)
      
(8,206)
  
Less: Revenue included in the beginning balance and recognized as revenue in the current year
    
(6.021)
      
(5,767)
  
Balance at end of year
   $
14,222
     $
12,566