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Note 4 - Revenue Disaggregation (Details Textual) - USD ($)
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Contract with Customer, Cumulative Catch-up Adjustment to Revenue, Change in Estimate of Transaction Price and Input Costs $ 1,200,000  
Increase (Decrease) in Contract with Customer, Asset 1,240,143 $ (268,884)
Increase (Decrease) in Contract with Customer, Liability $ (671,167) $ 156,573