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Note 5 - Retirement Plans - Weighted Average Actuarial Assumptions (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Discount rate 5.00% 5.21% 2.80%
Compensation increase 4.00% 4.10%  
Discount rate for benefit obligations 5.21% 2.80% 2.42%
Discount rate for interest on benefit obligations 5.14% 2.40% 1.90%
Discount rate for service cost 5.19% 2.91% 2.61%
Discount rate for interest on service cost 5.21% 2.86% 2.53%
Expected return on plan assets 5.25% 6.25% 6.25%
Compensation increase 4.10% 4.10% 4.40%