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Note 9 - Income Taxes (Details Textual) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Unrecognized Tax Benefits, Ending Balance |  | $ 28,516 | $ 29,061 | $ 28,951
Liability for Uncertainty in Income Taxes, Current |  | 2,400 | 2,200 |
Liability for Uncertainty in Income Taxes, Noncurrent |  | 26,089 | 26,901 |
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense, Total |  | 800 | 700 |
Income Tax Expense (Benefit) on Reversal of Interest and Penalties |  | 500 | 700 |
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total |  | 5,200 | 4,900 |
Income (Loss) from Continuing Operations before Income Taxes, Domestic |  | (6,000) | (17,100) |
Income (Loss) from Continuing Operations before Income Taxes, Foreign |  | 18,100 | 9,800 |
Deferred Tax Assets, Gross, Total |  | 22,937 | 23,335 |
Deferred Tax Assets, Operating Loss Carryforwards, Total |  | 7,744 | 8,042 |
Tax Credit Carryforward, Amount |  | 2,600 |  |
Deferred Tax Assets, Tax Credit Carryforwards, Total |  | 600 |  |
Deferred Tax Assets, Valuation Allowance, Total |  | 6,289 | $ 8,216 |
Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings, Amount |  | 200 |  |
Federal and State and Local Authority [Member] |  |  |  |
Operating Loss Carryforwards, Total |  | 27,500 |  |
Deferred Tax Assets, Operating Loss Carryforwards, Total |  | $ 5,900 |  |
Forecast [Member] |  |  |  |
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations | $ 2,400 |  |  |

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