Note 10 - Revenue - Deferred Revenue and Contract Assets (Details)	9 Months Ended
	Sep. 30, 2021 USD ($)
Balance, beginning of period	$ 152,245,000
Deferred revenue	176,441,000
Recognized revenue	(176,699,000)
Balance, end of period	151,987,000
Balance	0
Consideration recognized as revenue	2,783
Transferred to receivables	0
Balance	$ 2,783,000