Note 10 - Accounts Receivable (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounts Receivable, Allowance for Credit Loss, Current	$ 9,000	$ 10,000
Total Transfer Capacity, Undivided Interests to Investors under Receivables Securitization Facility	$ 800,000
Receivables Securitization Facility, Duration (Year)	3 years
Value Outstanding, Undivided Interest Held by Investors Under Receivables Securitization Facility	$ 0	100,000
Accounts Receivable, Supporting Undivided Investor Held Interest	1,700,000	1,600,000
Interest Expense	$ 1,340,000	1,271,000	$ 1,157,000
Receivables Securitization Facility, Maturity Date	Jul. 31, 2025
Asset-Backed Securities, Securitized Loans and Receivables [Member]
Accounts Receivable, from Securitization, Default or Dilution Ratio	1.00%
Interest Expense	$ 9,000	10,000	$ 4,000
Maximum [Member]
Total Transfer Capacity, Undivided Interests to Investors under Receivables Securitization Facility	800,000
Other Assets [Member]
Accounts Receivable, Allowance for Credit Loss, Noncurrent	$ 71,000	$ 58,000