Note 12 - Pension and Postretirement Benefit Plans - Significant Weighted Average Assumptions Used in Measurement of Pension and Postretirement Benefit Obligations (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
UNITED STATES | Pension Plan [Member]
Benefit obligations:
Discount rate	5.12%	5.47%	2.83%
Net periodic benefit cost:
Discount rate	5.36%	2.29%	1.72%
Expected return on plan assets	6.00%	4.00%	3.50%
UNITED STATES | Other Postretirement Benefits Plan [Member]
Benefit obligations:
Discount rate	5.19%	5.54%	2.99%
Net periodic benefit cost:
Discount rate	5.48%	2.84%	2.57%
Foreign Plan [Member] | Pension Plan [Member]
Benefit obligations:
Discount rate	4.33%	4.74%	1.97%
Net periodic benefit cost:
Discount rate	4.98%	2.20%	1.79%
Rate of compensation increase	3.68%	3.11%	2.97%
Expected return on plan assets	5.13%	3.64%	3.57%
Foreign Plan [Member] | Other Postretirement Benefits Plan [Member]
Benefit obligations:
Discount rate	5.01%	5.44%	3.08%
Net periodic benefit cost:
Discount rate	5.64%	3.34%	2.62%
Initial health care cost trend rate	2.76%	2.48%	2.27%
Ultimate health care cost trend rate	4.19%	4.09%	4.20%
Year ultimate reached	2032	2032	2032