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Note 9 - Income Taxes (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	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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Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws.

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