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Note 14 - Restructuring Charges (Reversals) (Details Textual) - USD ($)
1 Months Ended 12 Months Ended
Sep. 30, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Payments for Restructuring     $ 2,799,000 $ 1,272,000  
Restructuring Charges (Reversals)   $ 0 (849,000) 4,920,000  
Restructuring Reserve, Ending Balance   $ 0 0 3,648,000 $ 0
Contract Termination [Member]          
Payments for Restructuring $ 2,252,000   2,252,000 (0)  
Restructuring Reserve, Ending Balance     $ 0 $ 3,223,000 $ 0