Note 11 - Income Taxes - Effective Tax Rate Analysis and Reconciliation of Expected Statutory Rate (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2023	Dec. 31, 2022
Expected income tax expense at U.S. statutory rate									$ 2,320	$ 2,131
Dividend from foreign subsidiaries									184	127
NOL carryforwards utilized									39	(80)
Stock compensation									(329)	77
Global intangible low taxed income									87	66
Nondeductible expenses									21	11
Current year tax credits (foreign and research)									(367)	(465)
Domestic tax benefit, net of Federal benefit									(167)	87
Changes in valuation allowance									18	163
Foreign income tax rate differences									109	147
Section 250 foreign derived intangible income deduction									(272)	(563)
Other									63	(17)
Income tax expense	$ 111	$ 446	$ 572	$ 577	$ 637	$ 515	$ 454	$ 78	$ 1,706	$ 1,684