Note 6 - Employee Benefit Plans (Tables)

12 Months Ended

Dec. 31, 2022

Notes Tables

Schedule of Net Benefit Costs [Table Text Block]

(in thousands)	2022			2021			2020
Service cost	$	954		$	1,223		$	1,310
Interest cost		56			61			67
Expected return on assets		(128	)		(128	)		(200	)
Settlements		(487	)		72			292
Net periodic costs	$	395		$	1,228		$	1,469

Changes in Projected Benefit Obligations, Fair Value of Plan Assets, and Funded Status of Plan [Table Text Block]

(in thousands)	2022			2021
Change in projected benefit obligation:
Benefit obligation at beginning of year	$	(28,765	)	$	(31,039	)
Service cost		(954	)		(1,223	)
Interest cost		(56	)		(61	)
Actuarial gain		6,043			1,179
Participant contributions		(1,459	)		(1,780	)
Benefits paid		378			436
Plan change		397			1,076
Settlements		2,426			1,653
Foreign currency exchange adjustment		362			994
Benefit obligation at end of year		(21,628	)		(28,765	)
Change in plan assets:
Fair value of plan assets at beginning of year		18,919			18,756
Return on assets, net of actuarial loss		119			207
Employer contributions		831			878
Participant contributions		1,459			1,780
Benefits paid		(378	)		(436	)
Settlements		(2,426	)		(1,653	)
Foreign currency exchange adjustment		(113	)		(613	)
Fair value of plan assets at end of year		18,411			18,919
Net liability at end of year	$	(3,217	)	$	(9,846	)

Defined Benefit Plan, Assumptions [Table Text Block]

	2022			2021
Discount rate		2.3	%		0.2	%
Compensation increase		3.0	%		1.5	%

	2022			2021			2020
Discount rate		2.3	%		0.2	%		0.2	%
Rate of return on assets		1.8	%		0.7	%		1.0	%
Compensation increase		3.0	%		1.1	%		1.1	%

Schedule of Net Funded Status [Table Text Block]

(in thousands)	2022			2021
Accumulated benefit obligation at beginning of year	$	(2,097	)	$	(2,398	)
Interest cost		(51	)		(49	)
Actuarial gain		382			241
Benefits paid		109			109
Accumulated benefit obligation at end of year		(1,657	)		(2,097	)
Plan assets at end of year		-			-
Funded status	$	(1,657	)	$	(2,097	)

Share-Based Payment Arrangement, Option, Activity [Table Text Block]

	2022					2021					2020
(in thousands, except per share data)	Shares			Wt. Avg. Ex. Price		Shares			Wt. Avg. Ex. Price		Shares			Wt. Avg. Ex. Price
Outstanding and exercisable, beginning of year		12		$	9.44		262		$	10.01		363		$	10.27
Exercised		(12	)	$	9.44		(250	)	$	10.03		(101	)	$	10.95
Outstanding and exercisable, end of year		-		$	-		12		$	9.44		262		$	10.01

Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]

	2022					2021					2020
(in thousands, except per share data)	Units			Wt. Avg. Fair Value		Units			Wt. Avg. Fair Value		Units			Wt. Avg. Fair Value
Outstanding, beginning of year		1,058		$	21.16		1,414		$	15.16		1,328		$	17.05
Granted		431		$	27.74		270		$	41.66		779		$	14.02
Released		(474	)	$	19.94		(579	)	$	16.23		(621	)	$	17.48
Cancelled		(46	)	$	24.33		(47	)	$	18.96		(72	)	$	17.59
Outstanding, end of year		969		$	24.55		1,058		$	21.16		1,414		$	15.16

Schedule of Nonvested Performance-Based Units Activity [Table Text Block]

	2022					2021					2020
(in thousands, except per share data)	Units			Wt. Avg. Fair Value		Units			Wt. Avg. Fair Value		Units			Wt. Avg. Fair Value
Outstanding, beginning of year		384		$	22.22		425		$	15.51		364		$	18.72
Granted		151		$	33.22		93		$	51.43		200		$	13.18
Released		(55	)	$	14.11		(125	)	$	21.77		(39	)	$	21.40
Cancelled		(77	)	$	15.94		(9	)	$	14.04		(100	)	$	20.25
Outstanding, end of year		403		$	28.64		384		$	22.22		425		$	15.51

Schedule of Share-Based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]

Employee Stock Purchase Plan	2022			2021			2020
Dividend yield		0.0	%		0.0	%		0.5	%
Expected volatility		45.6	%		58.3	%		67.1	%
Risk-free interest rate		1.2	%		0.1	%		1.1	%
Expected term (years)		0.5			0.5			0.5
Weighted-average grant date fair value per share	$	8.79		$	9.42		$	6.01

Restricted Stock Units	2022			2021			2020
Dividend yield		0.0	%		0.0	%		0.0	%

Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]

(in thousands)	2022			2021			2020
Cost of sales	$	646		$	828		$	893
Research and development		3,100			3,017			3,245
Selling, general and administrative		11,172			9,947			10,096
Share-based compensation of continuing operations		14,918			13,792			14,234
Income tax benefit		(4,004	)		(722	)		(963	)
Total share-based compensation, net of tax	$	10,914		$	13,070		$	13,271