Note 10 - Income Taxes (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Unrecognized Tax Benefits	$ 19,823	$ 24,798	$ 28,434
Unrecognized Tax Benefits, Reduction Resulting from Lapse of Applicable Statute of Limitations	3,500
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense	400	600
Income Tax Expense (Benefit) on Reversal of Interest and Penalties	2,300	1,600
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued	2,000	4,000
Income (Loss) from Continuing Operations before Income Taxes, Domestic	51,500	14,200
Income (Loss) from Continuing Operations before Income Taxes, Foreign	31,700	44,800
Deferred Tax Assets, Gross	26,017	24,125
Deferred Tax Assets, Operating Loss Carryforwards	4,303	4,316
Tax Credit Carryforward, Amount	600
Deferred Tax Assets, Tax Credit Carryforwards	600
Deferred Tax Assets, Valuation Allowance	2,009	$ 4,027
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	$ 4,000