Note 9 - Income Taxes (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Unrecognized Tax Benefits, Ending Balance	$ 24,798	$ 28,434	$ 28,516
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations	5,600
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense, Total	600	700
Income Tax Expense (Benefit) on Reversal of Interest and Penalties	1,600	1,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total	4,000	5,000
Income (Loss) from Continuing Operations before Income Taxes, Domestic	14,200	7,300
Income (Loss) from Continuing Operations before Income Taxes, Foreign	44,800	20,000
Deferred Tax Assets, Gross, Total	24,125	25,061
Deferred Tax Assets, Operating Loss Carryforwards, Total	4,316	7,586
Tax Credit Carryforward, Amount	1,300
Deferred Tax Assets, Tax Credit Carryforwards, Total	900
Deferred Tax Assets, Valuation Allowance	4,027	$ 8,059
Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings, Amount	200
Federal and State and Local Authority [Member]
Operating Loss Carryforwards	15,100
Deferred Tax Assets, Operating Loss Carryforwards, Total	$ 3,300