Note 7 - Leases - Lease Balance Classifications Within the Consolidated Balance Sheets and Lease Activity (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Oct. 01, 2022	Dec. 31, 2022
Balance	$ 17,590
Right-of-use assets obtained for new lease contracts during the period	3,718
Amortization of right-of-use assets during the period	(5,022)	$ (4,995)
Adjustments for present value and foreign currency effects	(198)
Balance	16,088
Balance	20,072
Lease liabilities incurred for new lease contracts during the period	3,718
Accretion of lease liabilities	749
Operating cash used for payments on lease liabilities	(6,179)	$ (5,500)
Adjustments for present value and foreign currency effects	(306)
Balance	18,054
Long-term operating lease liabilities, net of current portion	12,122		$ 13,618
Accounts Payable and Accrued Liabilities [Member]
Less: Current portion of operating lease liabilities (included in Accrued liabilities)	$ (5,932)