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Note 9 - Accounts Receivable (Details Textual) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Accounts Receivable, Allowance for Credit Loss, Current $ 9,000   $ 9,000   $ 10,000
Total Transfer Capacity, Undivided Interests to Investors under Receivables Securitization Facility 800,000   $ 800,000    
Receivables Securitization Facility, Duration (Year)     3 years    
Value Outstanding, Undivided Interest Held by Investors Under Receivables Securitization Facility 0   $ 0   100,000
Accounts Receivable, Supporting Undivided Investor Held Interest 1,600,000   1,600,000    
Interest Expense 334,000 $ 315,000 $ 1,009,000 $ 938,000  
Receivables Securitization Facility, Maturity Date     Jul. 31, 2025    
Asset-Backed Securities, Securitized Loans and Receivables [Member]          
Accounts Receivable, from Securitization, Default or Dilution Ratio     1.00%    
Interest Expense 4,000 $ 4,000 $ 8,000 $ 8,000  
Maximum [Member]          
Total Transfer Capacity, Undivided Interests to Investors under Receivables Securitization Facility 800,000   800,000    
Other Assets [Member]          
Accounts Receivable, Allowance for Credit Loss, Noncurrent $ 71,000   $ 71,000   $ 58,000