Note 9 - Debt and Finance Leases (Details Textual)								1 Months Ended			3 Months Ended	12 Months Ended
		Jun. 15, 2022 USD ($)	Feb. 26, 2021 USD ($) $ / shares shares	Aug. 03, 2020 USD ($)	Jul. 29, 2020 USD ($) shares	May 24, 2019 USD ($)	May 20, 2019 USD ($)	Sep. 30, 2020 USD ($) shares	Jan. 31, 2019 USD ($)	Mar. 31, 2018	Sep. 30, 2020 USD ($)	Dec. 31, 2022 USD ($) $ / shares	Dec. 31, 2021 USD ($) $ / shares	Dec. 31, 2020 USD ($)	Feb. 26, 2024 USD ($)	Mar. 14, 2023 USD ($)	Jul. 01, 2020 USD ($)	Mar. 31, 2020 USD ($)	Mar. 27, 2020 USD ($)	Jan. 27, 2020 USD ($)	Jan. 26, 2020 USD ($)
Proceeds from Issuance of Debt												$ 49,000,000	$ 215,000,000	$ 0
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares												$ 0.01	$ 0.01
Proceeds from Issuance of Common Stock												$ 0	$ 10,000,000	0
Embedded Derivative, Fair Value of Embedded Derivative Liability												$ 4,000,000	7,000,000
Percentage Of Stock Of Material Domestic Subsidiaries Securing Credit Agreement												100.00%
Percentage Of Stock Of Material First Tier Foreign Subsidiaries Securing Credit Agreement												65.00%
Revenue from Contract with Customer, Excluding Assessed Tax												$ 1,205,000,000	$ 1,150,000,000	$ 1,029,000,000
Percentage Of Aggregate Sales Of Unrestricted Subsidiaries To Consolidated Sales Of Entity												1.00%	1.00%	1.00%
Assets, Total												$ 2,285,000,000	$ 2,171,000,000
Percentage Of Aggregate Assets Of Unrestricted Subsidiaries To Consolidated Assets Of Entity												1.00%	1.00%	1.00%
A B L Credit Agreement [Member]
Line of Credit Facility, Maximum Borrowing Capacity			$ 90,000,000									$ 150,000,000							$ 110,000,000	$ 120,000,000	$ 150,000,000
Lender Commitments Threshold Trigger Excess Availability Amount			11,250,000																$ 13,750,000	$ 15,000,000	$ 18,750,000
Excess Availability Calculation Percentage Of Eligible Equipment																		70.00%		75.00%
Equipment Availability Of Net Order Liquidation Value Amount																		$ 14,750,000		$ 6,000,000
Equipment Availability Of Net Order Liquidation Value Amount, Decrease Per Quarter																	$ 1,000,000
Amended A B L Credit Agreement [Member]
Excess Availability Percentage Of Lender Commitments Threshold Triggering Cash Dominion Control												12.50%
Excess Availability Below Which Fixed Charge Coverage Ratios Triggered												12.50%
Fixed Charged Coverage Ratio Required												1.0
Two Thousand Twenty One Notes Embedded Derivative [Member]
Embedded Derivative, Fair Value of Embedded Derivative Liability			12,000,000									$ 2,000,000	$ 4,000,000
A B L Credit Agreement [Member]
Excess Availability Below Which Fixed Charge Coverage Ratios Triggered													12.50%
Percentage Of Aggregate Consolidated Sales To Qualify Restricted Subsidiaries To Be Designated As Unrestricted Subsidiaries												7.50%
Percentage Of Aggregate Consolidated Assets To Qualify Restricted Subsidiaries To Be Designated As Unrestricted Subsidiaries												7.50%
Proforma Fixed Charge Coverage Ratio												1
Number Of Subsidiaries Designated As Unrestricted Subsidiaries										5		3
Letter of Credit [Member] | A B L Credit Agreement [Member]
Long-Term Line of Credit, Total												$ 58,000,000	$ 46,000,000
Debt Instrument, Basis Spread on Variable Rate												2.75%
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage												3.75%
Line of Credit Facility, Commitment Fee Percentage												0.25%
Revolving Credit Facility [Member] | Minimum [Member] | A B L Credit Agreement [Member]
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage												0.375%
Revolving Credit Facility [Member] | Minimum [Member] | A B L Credit Agreement [Member] | London Interbank Offered Rate (LIBOR) [Member]
Debt Instrument, Basis Spread on Variable Rate												3.50%
Revolving Credit Facility [Member] | Minimum [Member] | A B L Credit Agreement [Member] | Base Rate [Member]
Debt Instrument, Basis Spread on Variable Rate												2.50%
Revolving Credit Facility [Member] | Maximum [Member] | A B L Credit Agreement [Member]
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage												0.50%
Revolving Credit Facility [Member] | Maximum [Member] | A B L Credit Agreement [Member] | London Interbank Offered Rate (LIBOR) [Member]
Debt Instrument, Basis Spread on Variable Rate												4.00%
Revolving Credit Facility [Member] | Maximum [Member] | A B L Credit Agreement [Member] | Base Rate [Member]
Debt Instrument, Basis Spread on Variable Rate												3.00%
Amended A B L Credit Agreement [Member]
Lender Commitments Threshold Trigger Excess Availability Amount												$ 11,250,000	11,250,000
Long-Term Line of Credit, Total												58,000,000
Minimum Liquidity Value Required To Maintain At Each Quarter												80,000,000
Minimum Liquidity Current Balance												$ 150,000,000	$ 250,000,000
Excess Availability Percentage Of Lender Commitments Threshold Triggering Cash Dominion Control												12.50%	12.50%
Line of Credit Facility, Remaining Borrowing Capacity												$ 21,000,000	$ 27,000,000
Excess Availability Below Which Fixed Charge Coverage Ratios Triggered												12.50%
Amended A B L Credit Agreement [Member] | Forecast [Member]
Line of Credit Facility, Maximum Borrowing Capacity															$ 81,000,000
Amended A B L Credit Agreement [Member] | Subsequent Event [Member]
Line of Credit Facility, Maximum Borrowing Capacity																$ 90,000,000
Line of Credit Facility, Daily Minimum Liquidity																50,000,000
Line of Credit Facility, Quarterly Minimum Liquidity																$ 80,000,000
Amended A B L Credit Agreement [Member] | Minimum [Member]
Fixed Charged Coverage Ratio Required												1.0	1.0
Letter Of Credit Facility Agreement [Member]
Letter of Credit, Commitment Amount			$ 50,000,000
Line of Credit Facility, Aggregate Cash Collateral Percentage			103.00%
Debt Instrument, Term (Year)												3 years
Letters of Credit Outstanding, Amount												$ 43,000,000	$ 44,000,000
Letter Of Credit Cash Collateral												44,000,000	45,000,000
Proceeds From Financing Transactions Deposited In Cash Collateral Account												14,000,000
Minimum Liquidity Requirement												80,000,000
Unrestricted Subsidiaries [Member] | A B L Credit Agreement [Member]
Revenue from Contract with Customer, Excluding Assessed Tax												6,000,000	7,000,000	$ 6,000,000
Assets, Total												12,000,000	13,000,000
UNITED STATES
Revenue from Contract with Customer, Excluding Assessed Tax	[1]											486,000,000	426,000,000	$ 366,000,000
UNITED STATES | A B L Credit Agreement [Member]
Maximum Amount Liquidity Required												85,000,000
Term Loans And Commitments Under Term Loan Credit Agreement [Member] | Minimum [Member] | Board Rights Agreement [Member]
Percentage Of Original Principal Amount			50.00%
Two Thousand Twenty One Convertible Debt [Member]
Debt Instrument, Interest Rate, Stated Percentage			5.00%
Debt Instrument, Face Amount			$ 25,000,000
Debt Conversion, Converted Instrument, Shares Issued (in shares) | shares			100
Debt Conversion, Converted Instrument, Amount			$ 1,000
Initial Conversion Price Per Share of Common Stock (in dollars per share) | $ / shares			$ 10.00
Debt Instrument, Convertible, Stock Price Trigger (in dollars per share) | $ / shares			$ 14.50
Debt Instrument, Convertible, Threshold Consecutive Trading Days			60
Holder Fundamental Transaction Election Period (Day)			30 days
Convertible Notes Payable, Noncurrent												18,000,000	15,000,000
Convertible Debt, Fair Value Disclosures												$ 16,000,000	$ 18,000,000
Two Thousand Twenty One Convertible Debt [Member] | Minimum [Member]
Debt Instrument, Convertible, Threshold Trading Days			45
Two Thousand Nineteen Convertible Notes [Member]
Proceeds from Issuance of Debt						$ 100,000,000
Debt Instrument, Interest Rate, Stated Percentage							5.00%
Debt Instrument, Face Amount							$ 100,000,000
Debt Instrument, Convertible, Threshold Trading Days					5
Embedded Derivative, Fair Value of Embedded Derivative Liability							14,000,000
Convertible Notes Payable, Noncurrent							84,000,000
Principal Amount Of Debt Converted To Equity					$ 95,000,000
Interest Expense, Debt, Total				$ 5,600,000
Remaining Debt Face Amount				$ 5,000,000
Net Proceeds Received Allocated To Derivative Liability											$ 14,000,000
Transaction Costs							$ 2,000,000
Two Thousand Nineteen Convertible Notes [Member] | Common Stock [Member]
Debt Conversion, Converted Instrument, Shares Issued (in shares) | shares					29,922,956
Mandatory Converted Notes [Member]
Debt Instrument, Face Amount								$ 5,000,000			$ 5,000,000
Mandatory Converted Notes [Member] | Common Stock [Member]
Debt Conversion, Converted Instrument, Shares Issued (in shares) | shares								1,574,892
Term Loan Credit Agreement [Member]
Long-Term Debt, Total		$ 50,000,000	$ 225,000,000
Long Term Debt, Maximum Additional Proceeds			50,000,000
Proceeds from Issuance of Debt		49,000,000	215,000,000
Debt Issuance Costs, Net, Total		$ 1,000,000	$ 10,000,000
Debt Instrument, Interest Rate, Stated Percentage												12.50%
Debt Instrument, Collateral Amount												$ 2,457,000,000
Term Loan Credit Agreement [Member] | Securities Purchase Agreement [Member]
Common Stock, Shares, Issued (in shares) | shares			1,000,000
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares			$ 0.01
Sale of Stock, Price Per Share (in dollars per share) | $ / shares			$ 10.00
Proceeds from Issuance of Common Stock			$ 10,000,000
Term Loan Credit Agreement [Member] | UNITED STATES | Subsidiaries [Member]
Percentage of Material Stock												100.00%
Term Loan Credit Agreement [Member] | Non-US [Member] | Subsidiaries [Member]
Percentage of Material Stock												65.00%
Term Loan Credit Agreement [Member] | Term Loans [Member] | Paid In Cash Interest [Member]
Debt Instrument, Interest Rate, Stated Percentage												8.50%
Term Loan Credit Agreement [Member] | Term Loans [Member] | Paid In Kind Interest [Member]
Debt Instrument, Interest Rate, Stated Percentage												4.00%
Convertible Debt [Member]
Debt Instrument, Face Amount												$ 25,000,000
Arrangements with R E D Rochester L L C [Member]
Long-Term Debt, Total									$ 14,000,000
Proceeds from Issuance of Long-Term Debt, Total									14,000,000
Debt Instrument, Annual Principal Payment									$ 2,000,000
First Lien Term Loan [Member]
Repayments of Senior Debt, Total						$ 83,000,000

[1] Sales are reported in the geographic area in which they originate. No non-U.S. country generated more than 10% of net sales in the years ended December 31, 2022, 2021 and 2020.