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Note 6 - Employee Benefit Plans (Tables)
12 Months Ended
Dec. 31, 2016
Notes Tables  
Schedule of Net Benefit Costs [Table Text Block]
(in thousands)
 
2016
   
2015
   
2014
 
Service cost
  $
868
    $
856
    $
749
 
Interest cost
   
245
     
311
     
491
 
Expected return on assets
   
(147
)    
(193
)    
(343
)
Settlements
   
-
     
235
     
-
 
Net periodic costs
  $
966
    $
1,209
    $
897
 
Changes in Projected Benefit Obligations, Fair Value of Plan Assets, and Funded Status of Plan [Table Text Block]
(in thousands)
 
2016
   
2015
 
Change in projected benefit obligation:
               
                 
Benefit obligation at beginning of year
  $
(25,483
)   $
(26,027
)
Service cost
   
(868
)    
(856
)
Interest cost
   
(245
)    
(311
)
Actuarial loss
   
(796
)    
(660
)
Participant contributions
   
(719
)    
(672
)
Benefits paid
   
(214
)    
296
 
Plan change
   
-
     
558
 
Settlements
   
-
     
2,199
 
Foreign currency exchange adjustment
   
826
     
(10
)
Benefit obligation at end of year
   
(27,499
)    
(25,483
)
                 
Change in plan assets:
               
                 
Fair value of plan assets at beginning of year
   
14,716
     
15,603
 
Return on assets, net of actuarial loss
   
189
     
277
 
Employer contributions
   
719
     
672
 
Participant contributions
   
719
     
672
 
Benefits paid
   
214
     
(296
)
Settlements
   
-
     
(2,199
)
Foreign currency exchange adjustment
   
(480
)    
(13
)
Fair value of plan assets at end of year
   
16,077
     
14,716
 
Net liability at end of year
  $
(11,422
)   $
(10,767
)
Schedule of Assumptions Used [Table Text Block]
   
2016
   
2015
 
Discount rate
   
0.7
%    
1.0
%
Compensation increase
   
1.5
%    
1.8
%
   
2016
   
2015
   
2014
 
Discount rate
   
1.0
%    
1.3
%    
2.3
%
Rate of return on Assets
   
1.0
%    
1.3
%    
2.3
%
Compensation increase
   
1.8
%    
1.8
%    
2.0
%
Schedule of Net Funded Status [Table Text Block]
(in thousands)
 
2016
   
2015
 
Accumulated benefit obligation at beginning of year
  $
2,649
    $
2,428
 
Interest cost
   
109
     
90
 
Actuarial (gain) loss
   
(185
)    
187
 
Benefits paid
   
(83
)    
(56
)
Accumulated benefit obligation at end of year
   
2,490
     
2,649
 
Plan assets at end of year
   
-
     
-
 
Funded status
  $
(2,490
)   $
(2,649
)
Schedule of Share-based Compensation, Stock Options, Activity [Table Text Block]
   
2016
   
2015
   
2014
 
           
Wt. Avg.
           
Wt. Avg.
           
Wt. Avg.
 
(in thousands, except per share data)
 
Shares
   
Ex. Price
   
Shares
   
Ex. Price
   
Shares
   
Ex. Price
 
Outstanding, beginning of year
   
1,965
    $
11.25
     
2,435
    $
11.67
     
3,086
    $
11.93
 
Granted
   
-
    $
-
     
10
    $
10.98
     
10
    $
12.58
 
Exercised
   
(101
)   $
7.89
     
(175
)   $
8.65
     
(237
)   $
8.43
 
Cancelled
   
(223
)   $
16.19
     
(305
)   $
16.07
     
(424
)   $
15.37
 
Outstanding, end of year
   
1,641
    $
10.79
     
1,965
    $
11.25
     
2,435
    $
11.67
 
                                                 
Options exercisable at year end
   
1,537
    $
10.85
     
1,673
    $
11.47
     
1,901
    $
12.08
 
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range [Table Text Block]
         
Options Outstanding
   
Options Exercisable
 
                 
Approximate
                         
                 
Wt. Avg.
                         
Range of
   
Number
   
Remaining
   
Wt. Avg.
   
Number
   
Wt. Avg.
 
Exercise Prices
   
Outstanding
   
Life (in years)
   
Ex. Price
   
Exercisable
   
Ex. Price
 
$7.32
-
$10.58
     
1,089
     
4.4
    $
8.92
     
1,002
    $
8.87
 
$10.59
-
$15.50
     
466
     
3.2
    $
14.08
     
449
    $
14.20
 
$15.51
-
$20.73
     
86
     
3.2
    $
16.55
     
86
    $
16.55
 
 
 
 
     
1,641
     
4.0
    $
10.79
     
1,537
    $
10.85
 
Schedule of Share-based Compensation, Restricted Stock Units Award Activity [Table Text Block]
   
2016
   
2015
   
2014
 
           
Wt. Avg.
           
Wt. Avg.
           
Wt. Avg.
 
(in thousands, except per share data)
 
Units
   
Fair Value
   
Units
   
Fair Value
   
Units
   
Fair Value
 
Outstanding, beginning of year
   
1,078
    $
9.93
     
1,026
    $
9.54
     
887
    $
9.46
 
Granted
   
471
    $
11.25
     
482
    $
10.54
     
497
    $
10.07
 
Released
   
(409
)   $
9.90
     
(339
)   $
9.63
     
(315
)   $
10.16
 
Cancelled
   
(57
)   $
10.25
     
(91
)   $
9.82
     
(43
)   $
9.41
 
Outstanding, end of year
   
1,083
    $
10.50
     
1,078
    $
9.93
     
1,026
    $
9.54
 
Schedule of Share-based Compensation, Equity-based Performance Stock Units [Table Text Block]
Year Granted   Range of Awards     Performance Criteria Period (in years)  
2016
 
25%
-
200%
     
3
 
2015
 
25%
-
200%
     
2
 
2014
 
0%
-
150%
     
2
 
Schedule of Nonvested Performance-based Units Activity [Table Text Block]
   
2016
   
2015
   
2014
 
           
Wt. Avg.
           
Wt. Avg.
           
Wt. Avg.
 
(in thousands, except per share data)
 
Units
   
Fair Value
   
Units
   
Fair Value
   
Units
   
Fair Value
 
Outstanding, beginning of year
   
376
    $
10.80
     
334
    $
10.49
     
238
    $
9.32
 
Granted
   
222
    $
11.38
     
156
    $
10.69
     
208
    $
11.34
 
Released
   
(172
)   $
11.27
     
(38
)   $
9.52
     
(38
)   $
9.52
 
Cancelled
   
(23
)   $
8.75
     
(76
)   $
9.86
     
(74
)   $
9.59
 
Outstanding, end of year
   
403
    $
11.04
     
376
    $
10.80
     
334
    $
10.49
 
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
Employee Stock Purchase Plan
 
2016
   
2015
   
2014
 
Dividend yield
   
2.0
%
   
2.2
%    
2.4
%
Expected volatility
   
31.2
%
   
35.3
%    
35.3
%
Risk-free interest rate
   
0.3
%
   
0.1
%    
0.1
%
Expected term (years)
   
0.5
 
   
0.5
     
0.5
 
Weighted-average grant date fair value per share
  $
2.82
 
  $
2.71
    $
2.52
 
                         
Employee Stock Options
   
2016
 (1)
   
2015
     
2014
 
Dividend yield
   
N/A
 
   
2.1
%    
2.0
%
Expected volatility
   
N/A
 
   
39.1
%    
42.5
%
Risk-free interest rate
   
N/A
 
   
1.6
%    
1.9
%
Expected term (years)
   
N/A
 
   
5.9
     
5.9
 
Weighted-average grant date fair value per share
   
N/A
 
  $
3.46
    $
4.39
 
                         
Restricted Stock Units
 
2016
 
 
2015
   
2014
 
Dividend yield
   
2.0
%
   
2.1
%    
2.2
%
                         
Performance Stock Units
 
2016
 
 
2015
   
2014
 
Dividend yield
   
2.0
%
   
2.1
%    
2.2
%
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block]
(in thousands)
 
2016
   
2015
   
2014
 
Cost of sales
  $
398
    $
566
    $
491
 
Research and development
   
1,292
     
1,092
     
1,858
 
Selling, general and administrative
   
5,453
     
5,097
     
4,039
 
Share-based compensation of continuing operations
   
7,143
     
6,755
     
6,388
 
Discontinued operations
   
-
     
138
     
388
 
Income tax benefit
   
(269
)    
(249
)    
(204
)
Total share-based compensation, net of tax
  $
6,874
    $
6,644
    $
6,572