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Note 10 - Income Taxes (Details Textual) - USD ($) $ in Millions | 9 Months Ended |
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Unrecognized Tax Benefits, Ending Balance | $ 27.6 |  | $ 28.5
Liability for Uncertainty in Income Taxes, Current |  |  | 2.4
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense, Total | 0.5 | $ 0.4 |
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total | $ 4.7 |  | $ 5.2
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] |  |  |
Open Tax Year | 2017 2018 2019 2020 |  |
State and Local Jurisdiction [Member] |  |  |
Open Tax Year | 2014 2015 2016 2017 2018 2019 2020 |  |
Foreign Tax Authority [Member] | Asia [Member] |  |  |
Open Tax Year | 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 |  |
Foreign Tax Authority [Member] | Europe [Member] |  |  |
Open Tax Year | 2012 2013 2014 2015 2016 2017 2018 2019 2020 |  |

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