Note 12 - Taxes on Income (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent	21.00%	21.00%	35.00%
Tax Cuts and Jobs Act, Incomplete Accounting, Provisional Income Tax Expense (Benefit), Total			$ 2,400
Tax Cuts and Jobs Act, Incomplete Accounting, Transition Tax for Accumulated Foreign Earnings, Provisional Income Tax Expense			10,400
Tax Cuts and Jobs Act, Incomplete Accounting, Change in Tax Rate, Deferred Tax Liability, Provisional Income Tax Benefit			7,100
Tax Cuts and Jobs Act, Incomplete Accounting, Other Adjustments, Provisional Income Tax Benefit			900
Tax Cuts and Jobs Act, Transition Tax for Accumulated Foreign Earnings, Income Tax Expense			9,600
Tax Cuts and Jobs Act, Change in Tax Rate, Deferred Tax Liability, Income Tax Benefit			7,100
Tax Cuts and Jobs Act, Change in Tax Rate, Other Adjustments, Income Tax Benefit			2,000
Tax Cuts and Jobs Act, Measurement Period Adjustment, Income Tax Expense (Benefit)		$ (1,900)
Tax Cuts and Jobs Act, Transition Tax for Accumulated Foreign Earnings, Liability, Total		1,100
Deferred Tax Assets, Operating Loss Carryforwards, Total	$ 19,079	22,909
Deferred Tax Assets, Operating Loss Carryforwards, Subject to Expiration	11,900
Deferred Tax Assets, Operating Loss Carryforwards, Not Subject to Expiration	7,200
Deferred Tax Assets, Tax Credit Carryforwards, Foreign	4,101	507
Deferred Tax Assets, Tax Credit Carryforwards, Foreign, Subject to Expiration	400
Deferred Tax Assets, Tax Credit Carryforwards, Foreign, Not Subject to Expiration	3,600	100
Deferred Tax Assets, Valuation Allowance, Total	34,247	28,451
Undistributed Earnings of Foreign Subsidiaries	206,700
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	300
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense, Total	200	$ 200	$ 200
Decrease in Unrecognized Tax Benefits is Reasonably Possible	$ 700
Open Tax Year	2015 2016 2017 2018 2019