Note 16 - Income Taxes (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Expense (Benefit), Total	$ 5,585	$ 6,812	$ 12,078
Effective Income Tax Rate Reconciliation, Percent, Total	(5.70%)	17.00%	19.20%
Effective Income Tax Rate Continuing Operations Increase (Decrease) During the Period	(22.70%)
Increase (Decrease) in Income Taxes Payable, CARES Act			$ (2,900)
Deferred Tax Liability Not Recognized, Amount of Unrecognized Deferred Tax Liability, Undistributed Earnings of Foreign Subsidiaries	$ 0
Undistributed Earnings of Foreign Subsidiaries	3,600
Operating Loss Carryforwards	$ 16,600
Operating Loss Carryforwards, Expiration Period (Year)	10 years
Deferred Tax Assets, Valuation Allowance	$ 17,562	$ 13,999
Unrecognized Tax Benefits, Ending Balance	$ 3,236	$ 4,364	$ 4,830
GERMANY
Operating Loss Carryforwards, Percentage of Taxable Income	60.00%
NETHERLANDS
Operating Loss Carryforwards, Percentage of Taxable Income	50.00%