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Note 5 - Retirement Plans - Weighted Average Actuarial Assumptions (Details)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Discount rate 5.21% 2.80%  
Compensation increase 4.10% 4.30%  
Discount rate for benefit obligations 2.80% 2.42% 3.26%
Discount rate for interest on benefit obligations 2.40% 1.90% 2.89%
Discount rate for service cost 2.91% 2.61% 3.42%
Discount rate for interest on service cost 2.86% 2.53% 3.36%
Expected return on plan assets 6.25% 6.25% 7.00%
Compensation increase 4.10% 4.40% 4.10%