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Note 3 - Revenue (Details Textual) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2019
Dec. 31, 2018
Billed Contracts Receivable $ 24.6 $ 34.6
Contract with Customer, Liability, Total 5.7 $ 5.9
Contract with Customer, Liability, Increase for Cash Payments Received in Advcance 3.2  
Contract with Customer, Liability, Revenue Recognized $ 3.4