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Note 7 - Income Tax Expense - Income Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Statutory federal income tax rate	21.00%	21.00%	21.00%
State and local income taxes, net of federal income tax benefit	1.40%	1.30%	4.80%
Rate impacts due to foreign operations	(6.70%)	(4.50%)	(3.90%)
Changes in uncertain tax positions	(0.50%)	0.20%	1.70%
Compensation related	(1.60%)	2.30%	(0.20%)
Pension termination	(1.80%)	0.00%	0.00%
R&D tax credits	(0.40%)	(0.30%)	(0.90%)
Other	(0.30%)	0.30%	(1.40%)
Effective income tax rate	11.10%	20.30%	21.10%

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Represents changes in uncertain tax positions.

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to pension termination.

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Represents rate impacts due to foreign operations.

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to nondeductible expense for share-based payment arrangement.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to other adjustments.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits.

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