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Note 17 - Stockholders' Equity - Components of Accumulated Other Comprehensive Income (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Balance $ 19,286  
Foreign currency translation adjustments, net of tax expense 982 $ (593)
Balance 19,575 19,286
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Balance (11,440) (10,847)
Foreign currency translation adjustments, net of tax expense 982 (593)
Net actuarial loss for the year, net of tax 0 0
Amortization for the year, net of tax 0 0
Balance (10,458) (11,440)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Balance (11,554) (13,851)
Foreign currency translation adjustments, net of tax expense 0 0
Net actuarial loss for the year, net of tax 607 1,684
Amortization for the year, net of tax 560 613
Balance (10,387) (11,554)
AOCI Attributable to Parent [Member]    
Balance (22,994) (24,698)
Foreign currency translation adjustments, net of tax expense 982 (593)
Net actuarial loss for the year, net of tax 607 1,684
Amortization for the year, net of tax 560 613
Balance $ (20,845) $ (22,994)