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Note 16 - Income Taxes (Details Textual) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Expense (Benefit), Total | $ 5,585 | $ 6,812 | $ 12,078
Effective Income Tax Rate Reconciliation, Percent, Total | (5.70%) | 17.00% | 19.20%
Effective Income Tax Rate Continuing Operations Increase (Decrease) During the Period | (22.70%) |  |
Increase (Decrease) in Income Taxes Payable, CARES Act |  |  | $ (2,900)
Deferred Tax Liability Not Recognized, Amount of Unrecognized Deferred Tax Liability, Undistributed Earnings of Foreign Subsidiaries | $ 0 |  |
Undistributed Earnings of Foreign Subsidiaries | 3,600 |  |
Operating Loss Carryforwards | $ 16,600 |  |
Operating Loss Carryforwards, Expiration Period (Year) | 10 years |  |
Deferred Tax Assets, Valuation Allowance | $ 17,562 | $ 13,999 |
Unrecognized Tax Benefits, Ending Balance | $ 3,236 | $ 4,364 | $ 4,830
GERMANY |  |  |
Operating Loss Carryforwards, Percentage of Taxable Income | 60.00% |  |
NETHERLANDS |  |  |
Operating Loss Carryforwards, Percentage of Taxable Income | 50.00% |  |

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