Note 15 - Leases (Details Textual) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Lease, Expense	$ 21.9	$ 22.9	$ 21.7
Operating Lease, Weighted Average Remaining Lease Term (Year)	4 years 3 months 10 days	3 years 8 months 19 days
Operating Lease, Weighted Average Discount Rate, Percent	3.85%	3.58%
Royalty Requirements [Member]
Other Commitment, to be Paid, Year One	$ 2.1
Other Commitment, to be Paid, Year Two	1.6
Other Commitment, to be Paid, Year Three	1.0
Other Commitment, to be Paid, Year Four	0.9
Other Commitment, to be Paid, Year Five	0.6
Other Commitment, to be Paid, after Year Five	3.8
Accounts Payable and Accrued Liabilities [Member]
Operating Lease, Liability, Current	$ 18.6	$ 18.8
Maximum [Member]
Lessee, Operating Lease, Term of Contract (Year)	23 years