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Note 19 - Retirement Plans - Weighted-average Assumptions Used to Determine Net Pension (Details)
 12 Months Ended
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%