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Note 4 - Revenue (Details Textual) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Variable Lease, Income $ 6.1 $ 5.1
Billed Contracts Receivable 23.2 34.6
Contract with Customer, Liability, Total 3.0 5.9
Contract with Customer, Liability, Increase for Cash Payments Received in Advance 2.8  
Variable Reimbursement Revenue [Member]    
Variable Lease, Income $ 2.7 $ 2.6