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Note 13 - Income Taxes - Effective Tax Rate Analysis and Reconciliation of Expected Statutory Rate (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
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Dec. 31, 2022 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Dec. 31, 2021 | [1] | Sep. 30, 2021 | [2] | Jun. 30, 2021 | [3] | Mar. 31, 2021 | [4] | Dec. 31, 2022 | Dec. 31, 2021
Expected income tax expense at U.S. statutory rate |  |  |  |  |  |  |  |  | $ 2,131 | $ 1,764
Acquisition costs |  |  |  |  |  |  |  |  | 0 | 163
Dividend from foreign subsidiaries |  |  |  |  |  |  |  |  | 127 | 146
NOL carryforwards utilized |  |  |  |  |  |  |  |  | (80) | 56
Restricted stock compensation |  |  |  |  |  |  |  |  | 77 | (126)
Global intangible low taxed income |  |  |  |  |  |  |  |  | 66 | 28
Nondeductible expenses |  |  |  |  |  |  |  |  | 11 | 8
Current year tax credits (foreign and research) |  |  |  |  |  |  |  |  | (465) | (386)
Domestic tax benefit, net of Federal benefit |  |  |  |  |  |  |  |  | 87 | 153
Changes in valuation allowance |  |  |  |  |  |  |  |  | 163 | (105)
Foreign income tax rate differences |  |  |  |  |  |  |  |  | 147 | 9
Section 250 foreign derived intangible income deduction |  |  |  |  |  |  |  |  | (563) | (599)
Other |  |  |  |  |  |  |  |  | (17) | 8
Income tax expense | $ 637 | $ 515 | $ 454 | $ 78 | $ (51) | $ 357 | $ 447 | $ 366 | $ 1,684 | $ 1,119
[1] | The quarter ended December 31, 2021 includes a recovery of $17 of restructuring and other charges which are discussed in Note 5.
[2] | The quarter ended September 30, 2021 includes $51 of restructuring and other charges which are discussed in Note 5.
[3] | The quarter ended June 30, 2021 includes $197 of restructuring and other charges which are discussed in Note 5.
[4] | The quarter ended March 31, 2021 includes $55 of restructuring and other charges which are discussed in Note 5.

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- Definition Amount 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 a deemed dividend from foreign subsidiaries. + References No definition available. + Details
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- Definition Amount 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 global intangible low taxed income. + References No definition available. + Details
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- Definition Amount 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 section 250, foreign derived intangible income deduction. + References No definition available. + Details
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- Definition The amount of income tax expense or benefit for the period computed by applying the domestic federal statutory tax rates to pretax income from continuing operations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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- Definition Amount 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 nondeductible expenses. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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- Definition Amount 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 exempt income, equity in earnings (loss) of an unconsolidated subsidiary, minority noncontrolling interest income (loss), tax holiday, disposition of a business, disposition of an asset, repatriation of foreign earnings, repatriation of foreign earnings jobs creation act of 2004, increase (decrease) in enacted tax rate, prior year income taxes, increase (decrease) in deferred tax asset valuation allowance, and other adjustments. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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