Note 12 - Accrued Expenses - Activity and Liability Balances Related to Restructuring Costs (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($)
Liability, beginning balance	$ 6,796
New charges	10,114
Cash payment and other settlements	(11,412)
Liability, ending balance	5,498
Employee Severance [Member]
Liability, beginning balance	3,390
New charges	7,590
Cash payment and other settlements	(9,429)
Liability, ending balance	1,551
Disposal Of Equipment [Member]
Liability, beginning balance	0
New charges	1,320
Cash payment and other settlements	(1,320)
Liability, ending balance	0
Other Restructuring [Member]
Liability, beginning balance	3,406
New charges	1,204
Cash payment and other settlements	(663)
Liability, ending balance	$ 3,947