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Note 1 - Business Description (Details Textual)
$ / shares in Units, $ in Thousands, shares in Millions
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Oct. 25, 2023
USD ($)
Number of Countries in which Entity Operates 60    
Treasury Stock, Value, Acquired, Cost Method $ 20,024 $ 12,995  
Stock Repurchase Program [Member]      
Stock Repurchase Program, Authorized Amount     $ 100,000
Treasury Stock, Shares, Acquired (in shares) | shares 1.2 1.1  
Shares Acquired, Average Cost Per Share (in dollars per share) | $ / shares $ 16.7 $ 11.81  
Treasury Stock, Value, Acquired, Cost Method $ 20,000 $ 13,000