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Note 19 - Retirement Plans - Weighted-average Assumptions Used to Determine Net Pension (Details) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Effective rate for interest cost | 5.13% | 2.53% | 1.81%
Salary increase rate | 2.10% | 1.85% | 1.70%
Pension Plan [Member] | UNITED STATES |  |  |
Effective rate for service cost | 5.04% | 3.45% | 2.11%
Effective rate for interest cost | 5.02% | 2.97% | 1.42%
Salary increase rate | 1.00% | 1.00% | 3.50%
Expected long-term rate of return on plan assets | 7.50% | 5.30% | 5.20%
Interest crediting rate for cash balance plan | 3.85% | 2.58% | 1.75%
Pension Plan [Member] | Foreign Plan [Member] |  |  |
Effective rate for service cost | 3.44% | 1.60% | 1.17%
Effective rate for interest cost | 3.80% | 1.20% | 0.70%
Salary increase rate | 2.71% | 2.39% | 1.56%
Expected long-term rate of return on plan assets | 4.16% | 2.67% | 2.56%

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- Definition Defined benefit plan assumptions used calculating net periodic benefit cost effective rate for interest cost. + References No definition available. + Details
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- Definition Defined benefit plan assumptions used calculating net periodic benefit cost effective rate for service cost. + References No definition available. + Details
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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 -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-8 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (k)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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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 Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (k)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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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 Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (k)(4) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480506/715-20-50-1 + Details
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