Note 9 - Income Tax Expense (Benefit) - Income Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Statutory federal income tax rate	21.00%	21.00%
State and local income taxes, net of federal income tax benefit	2.50%	3.40%
Rate impacts due to foreign operations	(12.80%)	4.30%
Compensation related	2.10%	(0.80%)
Pension termination	0.00%	(0.30%)
R&D tax credits	(2.70%)	0.70%
Impairment charge	0.00%	(11.70%)
Other	0.10%	(0.70%)
Effective income tax rate	10.20%	15.90%