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Note 2 - Summary of Significant Accounting Policies (Details Textual) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 USD ($) shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($)
Percentage of Cash and Cash Equivalents Held by Foreign Subsidiaries | 49.00% |  |
Goodwill, Impairment Loss | $ 0 |  |
Impairment of Long-Lived Assets Held-for-use | $ 0 |  |
Preferred Stock, Shares Authorized (in shares) | shares | 5,000,000 | 5,000,000 |
Preferred Stock, Shares Issued (in shares) | shares | 0 | 0 |
Preferred Stock, Shares Outstanding (in shares) | shares |  | 0 |
Number of Operating Segments | 1 |  |
Other Comprehensive (Income) Loss, Defined Benefit Plan, after Reclassification Adjustment, after Tax | $ 446 | $ 2,411 |
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Gain (Loss) Arising During Period, Net of Tax | 1,507 | (2,614) |
Other Comprehensive Income (Loss), Net of Tax | 862 | (5,025) |
Accumulated Other Comprehensive Income (Loss), Net of Tax | $ (14,190) | (15,052) |
Revision of Prior Period, Adjustment [Member] |  |  |
Other Comprehensive (Income) Loss, Defined Benefit Plan, after Reclassification Adjustment, after Tax |  | 5,400 | $ 5,100
Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Gain (Loss) Arising During Period, Net of Tax |  | 5,400 | $ 5,100
Other Comprehensive Income (Loss), Net of Tax |  | 0 |
Accumulated Other Comprehensive Income (Loss), Net of Tax |  | $ 0 |
Minimum [Member] |  |  |
Customer Payments Term (Day) | 0 days |  |
Finite-Lived Intangible Asset, Useful Life (Year) | 4 years |  |
Minimum [Member] | Restricted Stock Units (RSUs) [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | 1 year |  |
Maximum [Member] |  |  |
Customer Payments Term (Day) | 60 days |  |
Finite-Lived Intangible Asset, Useful Life (Year) | 15 years |  |
Maximum [Member] | Restricted Stock Units (RSUs) [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | 4 years |  |

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