The painting was on its way to the Solomon R. Guggenheim Museum in New York City from Ohio's Toledo Museum of Art.
The 1778 "Children with a Cart" painting by famed Spanish artist Francisco de Goya was insured for $1 million. It was eventually returned undamaged to the Toledo museum.
Olson was sentenced Wednesday to the maximum 5-year term, while Szurko got a year and a day. The judge said Olson got more time because he led the theft and has an extensive criminal record.
Attorneys for the men have said they didn't realize the painting was so famous when they first took it.
