Note 19 - Retirement Plans - Weighted-average Assumptions Used to Determine Benefit Obligation Amounts (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
UNITED STATES
Discount rate	4.92%	5.13%	2.54%
Salary increase rate	1.50%	1.00%	1.00%
Interest crediting rate for cash balance plan	4.00%	4.00%	2.00%
Foreign Plan [Member]
Discount rate	3.47%	3.93%	1.48%
Salary increase rate	2.06%	2.71%	2.39%

Weighted average rate for present value of future retirement benefits cash flows, used to determine benefit obligation of defined benefit plan.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(1)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted average rate increase of compensation, used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, pay-related defined benefit plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(2)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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- Definition

Weighted-average interest crediting rate used to determine benefit obligation of defined benefit plan. Plan includes, but is not limited to, cash balance and other defined benefit plans with promised interest crediting rate.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 715
-SubTopic 20
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (k)(4)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480506/715-20-50-1

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