Note 9 - Income Taxes (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Unrecognized Tax Benefits, Ending Balance	$ 28,434	$ 28,516	$ 29,061
Liability for Uncertainty in Income Taxes, Current	0	2,400
Liability for Uncertainty in Income Taxes, Noncurrent	28,434	26,089
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations	4,100
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense, Total	700	800
Income Tax Expense (Benefit) on Reversal of Interest and Penalties	1,000	500
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total	5,000	5,200
Income (Loss) from Continuing Operations before Income Taxes, Domestic	7,300	(6,000)
Income (Loss) from Continuing Operations before Income Taxes, Foreign	20,000	18,100
Deferred Tax Assets, Gross, Total	25,061	22,937
Deferred Tax Assets, Operating Loss Carryforwards, Total	7,586	7,744
Tax Credit Carryforward, Amount	1,300
Deferred Tax Assets, Tax Credit Carryforwards, Total	900
Deferred Tax Assets, Valuation Allowance, Total	8,059	$ 6,289
Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings, Amount	300
Federal and State and Local Authority [Member]
Operating Loss Carryforwards, Total	30,100
Deferred Tax Assets, Operating Loss Carryforwards, Total	$ 6,800