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Note 3 - Accumulated Other Comprehensive Loss - Changes in Each Component of Other Comprehensive Loss, Net of Tax (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Balance $ 72,220 $ 83,401
Other Comprehensive Income (Loss), Net of Tax 862 (5,025)
Balance 73,074 72,220
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Balance (11,392) (8,778)
Other Comprehensive Income (Loss), Net of Tax 1,507 (2,614)
Balance (9,885) (11,392)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Balance (3,660) (1,249)
Other Comprehensive Income (Loss), Net of Tax (446) (2,411)
Balance (4,106) (3,660)
AOCI Attributable to Parent [Member]    
Balance (15,052) (10,027)
Other Comprehensive Income (Loss), Net of Tax 862 (5,025)
Balance (14,190) $ (15,052)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Other Comprehensive Income (Loss), Net of Tax (199)  
Balance $ (199)