Pilfer frequently describes the action of stealing something over and over again in small amounts in the hope that nobody notices it is missing, such as paper clips from the office supply closet or sweets from the cookie jar.
But occasionally the word is used with somewhat humorous connotation for the removal of something the absence of which would be very much noticed:
Overnight Wednesday, someone pilfered a 200-pound, brightly colored log sculpture of cartoon character Mighty Mouse from Wichita artist Christopher Gulick’s Indian Hills backyard.
— Matt Reidl, The Wichita Eagle, 25 July 2018