Note 4 - Revenue - Future Performance Obligations 2 (Details) $ in Thousands	Dec. 31, 2019 USD ($)
Revenue related to future performance obligation	$ 117,650	[1]
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-01-01
Revenue related to future performance obligation	$ 31,879	[2]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-01-01
Revenue related to future performance obligation	$ 30,209	[2]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01
Revenue related to future performance obligation	$ 23,198	[2]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01
Revenue related to future performance obligation	$ 17,605	[2]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Revenue related to future performance obligation	$ 8,040	[2]
Expected Timing of Satisfaction, Period (Year)	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01
Revenue related to future performance obligation	$ 6,719	[2]
Expected Timing of Satisfaction, Period (Year)

[1] Excluded from the table is revenue that is either constrained or related to performance obligations that are wholly unsatisfied as of December 31, 2019.

[2] Excluded from the table is revenue that is either constrained or related to performance obligations that are wholly unsatisfied as of December 31, 2019.