Note 7 - Income Taxes - Reconciliation of the U.S. Statutory Income Tax Rate to Effective Tax Rate (Details)		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Statutory U.S. federal income tax rate		21.00%	21.00%	21.00%
State income tax, net of federal effect		0.70%	1.00%	1.40%
Audit settlements & change in reserve		3.70%	1.60%	12.10%
Differential arising from foreign earnings (1)	[1]	2.20%	2.00%	14.90%
Valuation allowance		2.10%	(0.50%)	2.50%
Intercompany loan adjustment		0.60%		6.10%
Tax credits		(3.30%)	(2.60%)	(29.20%)
Foreign derived intangible income		(2.70%)	(1.30%)
Stock compensation		(0.80%)	(1.50%)	(1.70%)
Remeasurement of deferred tax assets and liabilities		(0.10%)		(13.20%)
Legal entity rationalization				(2.20%)
Non-deductible expenses			1.40%	6.90%
Global intangible low-taxed income			0.20%	(0.50%)
Other items, net		(0.50%)	(1.10%)	(0.60%)
Effective tax rate		22.90%	20.20%	17.50%

[1] Includes impact of intercompany asset sales.