Note 17 - Leases - Supplemental Balance Sheet Information (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Operating lease right-of-use assets	$ 21,551	$ 21,252
Operating lease liability, current	5,870	6,880
Operating lease liability, long-term	15,742	14,668
Total operating lease liabilities	21,612	21,548
Property, plant and equipment, gross	145,224	148,062
Accumulated depreciation	(108,391)	(109,852)
Property, plant and equipment, net	36,833	38,210
Total finance lease liabilities	2,054
Other Liabilities [Member]
Total operating lease liabilities	21,612
Other current liabilities	446	363
Other long-term liabilities	1,608	1,650
Total finance lease liabilities	2,054	2,013
Assets under Finance Lease [Member]
Property, plant and equipment, gross	3,096	2,719
Accumulated depreciation	(1,089)	(690)
Property, plant and equipment, net	$ 2,007	$ 2,029