Note 20 - Retirement Plans - Weighted-average Assumptions Used to Determine Net Pension (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Effective rate for interest cost	2.53%	1.81%	2.78%
Salary increase rate	1.85%	1.70%	1.80%
Pension Plan [Member] \| UNITED STATES
Effective rate for service cost	3.45%	2.11%	2.97%
Effective rate for interest cost	2.97%	1.42%	2.58%
Salary increase rate	1.00%	3.50%	3.50%
Expected long-term rate of return on plan assets	5.30%	5.20%	6.00%
Interest crediting rate for cash balance plan	2.58%	1.75%	2.50%
Pension Plan [Member] \| Foreign Plan [Member]
Effective rate for service cost	1.60%	1.17%	1.48%
Effective rate for interest cost	1.20%	0.70%	1.19%
Salary increase rate	2.39%	1.56%	1.72%
Expected long-term rate of return on plan assets	2.67%	2.56%	3.27%

Defined benefit plan assumptions used calculating net periodic benefit cost effective rate for interest cost.

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- Definition

Defined benefit plan assumptions used calculating net periodic benefit cost effective rate for service cost.

+ References

No definition available.

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- Definition

Weighted average rate of return on plan assets, reflecting average rate of earnings expected on existing plan assets and expected contributions, used to determine net periodic benefit cost of defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 1
-Subparagraph (k)(3)
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 715
-SubTopic 20
-Section 50
-Paragraph 8
-URI https://asc.fasb.org/extlink&oid=123447040&loc=d3e2919-114920

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- Definition

Weighted average rate of compensation increase used to determine net periodic benefit cost of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

+ References

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- Definition

Weighted-average interest crediting rate used to determine net periodic benefit cost of defined benefit plan. Plan includes, but is not limited to, cash balance and other defined benefit plans with promised interest crediting rate.

+ References

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