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Note 2 - Summary of Significant Accounting Policies (Details Textual)
$ in Thousands
 12 Months Ended
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