Note 3 - Revenue - Future Performance Obligations 2 (Details) $ in Thousands	Mar. 31, 2020 USD ($)
Revenue related to future performance obligation	$ 116,123	[1]
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-04-01
Revenue related to future performance obligation	$ 23,929	[2]
Expected Timing of Satisfaction, Period (Year)	273 days
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-01-01
Revenue related to future performance obligation	$ 30,211	[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	$ 11,250	[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	$ 9,930	[2]
Expected Timing of Satisfaction, Period (Year)	1 year

[1] Excluded from the table is revenue that is either constrained or related to performance obligations that are wholly unsatisfied as of March 31, 2020.

[2] Excluded from the table is revenue that is either constrained or related to performance obligations that are wholly unsatisfied as of March 31, 2020.