Note 12 - Employee Retirement Plans - Weighted-average Assumptions Used to Determine Benefit Obligations and Net Periodic Benefit Cost (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Pension Plan [Member] | UNITED STATES
Discount rate	5.50%	2.87%	2.50%
Rate of compensation increase	3.48%	3.50%	4.16%
Cash balance crediting rate	4.14%	3.86%	3.84%
Employee contributions crediting rate	4.62%	1.57%	0.62%
Discount rate	2.88%	2.50%	3.28%
Expected return on plan assets	6.00%	6.00%	6.00%
Rate of compensation increase	3.50%	4.16%	3.50%
Cash balance crediting rate	3.86%	3.84%	3.94%
Employee contributions crediting rate	1.57%	0.62%	2.03%
Pension Plan [Member] | Foreign Plan [Member]
Discount rate	2.46%	1.20%	1.02%
Rate of compensation increase	3.73%	3.63%	3.55%
Cash balance crediting rate	0.82%	0.91%	0.94%
Discount rate	1.20%	1.02%	1.34%
Expected return on plan assets	1.64%	1.26%	1.71%
Rate of compensation increase	3.63%	3.55%	2.96%
Cash balance crediting rate	0.91%	0.94%	0.97%
Other Postretirement Benefits Plan [Member]
Discount rate	5.58%	2.99%	2.69%
Discount rate	2.99%	2.69%	3.41%