Note 13 - Income Taxes (Details Textual) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	$ 5,300,000	$ 4,300,000
Unrecognized Tax Benefits, Interest on Income Taxes Expense	22,800	129,660	$ 6,150
Unrecognized Tax Benefits, Income Tax Penalties Accrued	0
Unrecognized Tax Benefits, Interest on Income Taxes Accrued	302,000	$ 279,000	$ 150,000
Undistributed Earnings of Foreign Subsidiaries	$ 18,900,000
Effective Income Tax Rate Reconciliation, Dividend Received Deduction, Percent	100.00%
State and Local Jurisdiction [Member]
Operating Loss Carryforwards	$ 23,500,000
Deferred Tax Assets, Operating Loss Carryforwards, Total	$ 1,300,000
Open Tax Year	2017 2018 2019 2020 2021 2022
State and Local Jurisdiction [Member] | Deferred Tax Assets Related to Operating Loss Carryforwards [Member]
Deferred Tax Assets, Valuation Allowance	$ 0
Domestic Tax Authority [Member]
Open Tax Year	2018 2019 2020 2021 2022