Note 13 - Income Taxes - Effective Tax Rate Analysis and Reconciliation of Expected Statutory Rate (Details) - USD ($) $ in Thousands	3 Months Ended												12 Months Ended
	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	[1]	Sep. 30, 2021	[2]	Jun. 30, 2021	[3]	Mar. 31, 2021	[4]	Dec. 31, 2022	Dec. 31, 2021
Expected income tax expense at U.S. statutory rate													$ 2,131	$ 1,764
Acquisition costs													0	163
Dividend from foreign subsidiaries													127	146
NOL carryforwards utilized													(80)	56
Restricted stock compensation													77	(126)
Global intangible low taxed income													66	28
Nondeductible expenses													11	8
Current year tax credits (foreign and research)													(465)	(386)
Domestic tax benefit, net of Federal benefit													87	153
Changes in valuation allowance													163	(105)
Foreign income tax rate differences													147	9
Section 250 foreign derived intangible income deduction													(563)	(599)
Other													(17)	8
Income tax expense	$ 637	$ 515	$ 454	$ 78	$ (51)		$ 357		$ 447		$ 366		$ 1,684	$ 1,119

[1] The quarter ended December 31, 2021 includes a recovery of $17 of restructuring and other charges which are discussed in Note 5.

[2] The quarter ended September 30, 2021 includes $51 of restructuring and other charges which are discussed in Note 5.

[3] The quarter ended June 30, 2021 includes $197 of restructuring and other charges which are discussed in Note 5.

[4] The quarter ended March 31, 2021 includes $55 of restructuring and other charges which are discussed in Note 5.