Note 1 - Business and Significant Accounting Policies - Contract Assets (Liabilities) (Details) - USD ($) $ in Thousands		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021
Contract assets (*)	[1]	$ 16,405	$ 9,692
Contract liabilities (*)	[1]	(8,785)	(9,248)
Recognition of contract liabilities as revenue as a result of performance obligations satisfied		0	3,566
Cash received in advance for which revenues have not yet recognized, net of expenditures made		(2,604)	(2,146)
Reduction of contract assets as a result of rights to consideration becoming unconditional		(23,000)	(43,518)
Contract assets recognized, net of recognized receivables		32,780	29,177
Net change in contract assets and contract liabilities		9,780	(14,341)
Net change in contract assets and contract liabilities		$ (2,604)	$ 1,420

[1] Contract assets and contract liabilities are presented as "Costs and estimated earnings in excess of billings on uncompleted contracts" and "Billings in excess of costs and estimated earnings on uncompleted contracts", respectively, on the consolidated balance sheets. The contract liabilities balance at the beginning of the year was partially recognized as product revenues during the year ended December 31, 2022 as a result of performance obligations that were partially satisfied.