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Note 9 - Income Taxes (Details Textual) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount | $ (1,100) | $ 4,800 |
Undistributed Earnings of Foreign Subsidiaries | 10,700 |  |
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense, Total | 56 | 27 | $ 0
Unrecognized Tax Benefits that Would Impact Effective Tax Rate | 2,400 | 2,100 | 1,100
Foreign Tax Authority [Member] | Swiss Federal Tax Administration (FTA) and National Tax Agency, Japan [Member] |  |  |
Operating Loss Carryforwards, Total | 0 | 100 |
Foreign Tax Authority [Member] | Internal Revenue Service (IRS) [Member] |  |  |
Operating Loss Carryforwards, Total | 500 | 0 |
Tax Credit Carryforward, Amount | 4,400 | 4,000 |
Domestic Tax Authority [Member] | Canada Revenue Agency [Member] |  |  |
Operating Loss Carryforwards, Total | $ 0 | $ 0 | $ 0

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- Definition Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121826272&loc=d3e32559-109319 + Details
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