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Note 8 - Debt and Credit Facilities (Details Textual)
 1 Months Ended 3 Months Ended 6 Months Ended 7 Months Ended 12 Months Ended
Jul. 21, 2023
USD ($)
Mar. 31, 2023
USD ($)
Feb. 26, 2021
USD ($)
$ / shares
shares
Jan. 31, 2019
USD ($)
Aug. 31, 2023
USD ($)
Jan. 31, 2019
USD ($)
Mar. 31, 2024
USD ($)
Sep. 30, 2023
USD ($)
Dec. 31, 2023
USD ($)
$ / shares
Jul. 31, 2023
USD ($)
Dec. 31, 2023
USD ($)
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2021
USD ($)
Feb. 26, 2024
USD ($)
Jun. 30, 2023
USD ($)
May 31, 2023
USD ($)
Mar. 14, 2023
USD ($)
Feb. 25, 2021
USD ($)
Long-Term Debt, Total                 $ 458,000,000   $ 458,000,000 $ 317,000,000            
Gain (Loss) on Extinguishment of Debt                     $ (27,000,000) $ (0) $ (0)          
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares     $ 0.01           $ 0.01   $ 0.01 $ 0.01            
Proceeds from Issuance of Common Stock                     $ 0 $ 0 10,000,000          
Embedded Derivative, Fair Value of Embedded Derivative Liability                 $ 2,000,000   2,000,000 4,000,000            
Revenue from Contract with Customer, Excluding Assessed Tax                     1,117,000,000 $ 1,205,000,000 1,150,000,000          
Percentage Of Aggregate Sales Of Unrestricted Subsidiaries To Consolidated Sales Of Entity                       1.00%            
Assets                 2,355,000,000   2,355,000,000 $ 2,285,000,000            
Percentage Of Aggregate Assets Of Unrestricted Subsidiaries To Consolidated Assets Of Entity                       1.00%            
A B L Credit Agreement [Member]                                    
Line of Credit Facility, Maximum Borrowing Capacity     $ 90,000,000                              
L C Facility Agreement [Member]                                    
Line of Credit Facility, Daily Minimum Liquidity                                 $ 50,000,000  
Letters of Credit Outstanding, Amount                 $ 31,000,000   31,000,000 $ 43,000,000            
Line of Credit Facility, Aggregate Cash Collateral Percentage                 104.00%                  
Letter of Credit, Commitment Amount                 $ 50,000,000   50,000,000       $ 100,000,000   50,000,000  
Letters of Credit, Amount Transferred $ 58,000,000                                  
Proceeds From Issuance of Debt, Collateralize Letters of Credit 59,000,000                                  
Reductions of Collateral Account to Fund Liabilities         $ 68,000,000                          
Letter Of Credit Cash Collateral                 32,000,000   $ 32,000,000 44,000,000            
Line of Credit Facility, Percentage of Letter of Credit Fee                     3.75%              
Line of Credit Facility, Commitment Fee Percentage                     0.25%              
Debt Instrument, Basis Spread on Variable Rate                     2.75%              
Amended A B L Credit Agreement [Member]                                    
Lender Commitments Threshold Trigger Excess Availability Amount                   $ 11,250,000   $ 11,250,000            
Excess Availability Percentage Of Lender Commitments Threshold Triggering Cash Dominion Control                       12.50%            
Excess Availability Below Which Fixed Charge Coverage Ratios Triggered                   12.50%                
Fixed Charged Coverage Ratio Required                   1                
Amended A B L Credit Agreement [Member]                                    
Line of Credit Facility, Maximum Borrowing Capacity     90,000,000                             $ 110,000,000
Lender Commitments Threshold Trigger Excess Availability Amount     11,250,000                 $ 11,250,000       $ 11,250,000   $ 13,750,000
Line of Credit Facility, Daily Minimum Liquidity                                 50,000,000  
Line of Credit Facility, Quarterly Minimum Liquidity                                 $ 80,000,000  
Letters of Credit Outstanding, Amount                             $ 58,000,000      
Minimum Liquidity Current Balance   $ 143,000,000                   $ 150,000,000            
Excess Availability Percentage Of Lender Commitments Threshold Triggering Cash Dominion Control                       12.50%       12.50%    
Line of Credit Facility, Remaining Borrowing Capacity                       $ 21,000,000       $ 17,000,000    
Excess Availability Below Which Fixed Charge Coverage Ratios Triggered                                   12.50%
Amended A B L Credit Agreement [Member] | Scenario, Plan [Member]                                    
Line of Credit Facility, Maximum Borrowing Capacity                           $ 81,000,000        
A B L Credit Agreement [Member]                                    
Lender Commitments Threshold Trigger Excess Availability Amount     $ 11,250,000                              
Excess Availability Below Which Fixed Charge Coverage Ratios Triggered                                   12.50%
Proforma Fixed Charge Coverage Ratio                   1   1            
Consolidated EBITDA Exceeding Fixed Charges, Amount   $ 9,000,000                                
Percentage Of Aggregate Consolidated Sales To Qualify Restricted Subsidiaries To Be Designated As Unrestricted Subsidiaries                       7.50%            
Percentage Of Aggregate Consolidated Assets To Qualify Restricted Subsidiaries To Be Designated As Unrestricted Subsidiaries                       7.50%            
A B L Credit Agreement [Member] | Unrestricted Subsidiaries [Member]                                    
Revenue from Contract with Customer, Excluding Assessed Tax                       $ 6,000,000 7,000,000          
Assets                       12,000,000            
Letter Of Credit Facility Agreement [Member]                                    
Line of Credit Facility, Aggregate Cash Collateral Percentage     103.00%                              
Minimum Liquidity Requirement                       80,000,000            
Two Thousand Twenty One Notes Embedded Derivative [Member]                                    
Embedded Derivative, Fair Value of Embedded Derivative Liability     $ 12,000,000             $ 5,000,000   2,000,000            
Original Term Loan Credit Agreement [Member]                                    
Long-Term Debt, Total 293,000,000                                  
Proceeds from Issuance of Debt                     $ 0 49,000,000 215,000,000          
Repayments of Debt 316,000,000                   316,000,000 (0) (0)          
Interest Paid, Including Capitalized Interest, Operating and Investing Activities 2,000,000                                  
Gain (Loss) on Extinguishment of Debt               $ (23,000,000)                    
Two Thousand Twenty One Convertible Debt [Member]                                    
Debt Instrument, Face Amount     $ 25,000,000                              
Debt Instrument, Interest Rate, Stated Percentage     5.00%                              
Gain (Loss) on Extinguishment of Debt               $ (4,000,000)                    
Debt Instrument, Convertible, Conversion Ratio     100                              
Debt Conversion, Original Debt, Amount     $ 1,000                              
Initial Conversion Price Per Share of Common Stock (in dollars per share) | $ / shares     $ 10                              
Debt Instrument, Convertible, Stock Price Trigger (in dollars per share) | $ / shares     $ 14.5                              
Holder Fundamental Transaction Election Period (Day)     30 days                              
Convertible Notes Payable, Noncurrent                       18,000,000            
Convertible Debt, Fair Value Disclosures 24,000,000                     16,000,000            
Extinguishment of Debt, Amount 28,000,000                                  
UNITED STATES                                    
Revenue from Contract with Customer, Excluding Assessed Tax                     483,000,000 $ 486,000,000 $ 426,000,000          
Minimum [Member] | Amended A B L Credit Agreement [Member]                                    
Fixed Charged Coverage Ratio Required                       1           1
Minimum [Member] | Revolving Credit Facility [Member] | A B L Credit Agreement [Member]                                    
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage                   0.375%                
Minimum [Member] | Two Thousand Twenty One Convertible Debt [Member]                                    
Debt Instrument, Convertible, Threshold Trading Days     45                              
Maximum [Member] | Revolving Credit Facility [Member] | A B L Credit Agreement [Member]                                    
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage                   0.50%                
Maximum [Member] | Two Thousand Twenty One Convertible Debt [Member]                                    
Debt Instrument, Convertible, Threshold Consecutive Trading Days     60                              
Term Loan Credit Agreement [Member]                                    
Long-Term Debt, Total     $ 225,000,000                              
Long Term Debt, Maximum Additional Proceeds     $ 50,000,000                              
Term Loan Credit Agreement [Member] | Securities Purchase Agreement [Member]                                    
Common Stock, Shares, Issued (in shares) | shares     1,000,000                              
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares     $ 0.01                              
Sale of Stock, Price Per Share (in dollars per share) | $ / shares     $ 10                              
Proceeds from Issuance of Common Stock     $ 10,000,000                              
Refinancing Term Loans [Member]                                    
Debt Instrument, Face Amount                 $ 450,000,000   $ 450,000,000              
Debt Instrument, Interest Rate, Annum Payable                 7.50%   7.50%              
Debt Instrument, Interest Rate, Payable In-kind                 5.00%   5.00%              
Debt Instrument, Interest Rate, Stated Percentage                 12.50%   12.50%              
Debt Instrument, Collateral Amount                 $ 4,205,000,000   $ 4,205,000,000              
Refinancing Term Loans [Member] | Subsequent Event [Member]                                    
Repayments of Debt             $ 17,000,000                      
Refinancing Term Loans [Member] | UNITED STATES                                    
Maximum Amount Liquidity Required                 85,000,000   85,000,000              
Refinancing Term Loans [Member] | Minimum [Member]                                    
Debt Instrument, Material Indebtness                 20,000,000   20,000,000              
Refinancing Term Loans [Member] | Minimum [Member] | UNITED STATES                                    
Maximum Amount Liquidity Required                 60,000,000   60,000,000              
Refinancing Term Loans [Member] | Maximum [Member]                                    
Debt Instrument, Material Indebtness                 $ 25,000,000   $ 25,000,000              
Refinancing Term Loans [Member] | Used to Refinance Obligations [Member]                                    
Proceeds from Issuance of Debt 435,000,000                                  
Refinancing Term Loans [Member] | General Corporate Purposes and Working Capital Needs [Member]                                    
Proceeds from Issuance of Debt $ 29,000,000                                  
Arrangements with R E D Rochester L L C [Member]                                    
Long-Term Debt, Total       $ 14,000,000   $ 14,000,000                        
Proceeds from Issuance of Long-Term Debt           $ 14,000,000                        
Debt Instrument, Periodic Payment       $ 2,000,000