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Note 10 - Debt (Details Textual) - USD ($) $ in Thousands |  |  |  | 1 Months Ended | 3 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | --- | ---
Feb. 18, 2020 | Dec. 11, 2017 | Jun. 19, 2014 | Mar. 31, 2016 | Dec. 31, 2017 | Dec. 31, 2019 | Dec. 31, 2018
Long-term Debt, Total |  |  |  |  |  |  | $ 145,014 |
Amortization of Debt Issuance Costs |  |  |  |  |  |  | 466 | $ 531
Long-term Debt, Maturities, Repayments of Principal in Next Twelve Months | [1] |  |  |  |  |  | 5,948 |
Credit and Security Agreement with KeyBank [Member] |  |  |  |  |  |  |  |
Debt Issuance Costs, Net, Total |  |  |  | $ 5,800 |  |  | $ 1,300 | $ 1,800
Line of Credit Facility, Interest Rate at Period End |  |  |  |  |  |  | 3.31% | 4.31%
Effective LIBOR Rate |  |  |  |  |  |  | 1.81% | 2.56%
Interest Expense, Debt, Total |  |  |  |  |  |  | $ 5,400 | $ 5,300
Debt Instrument, Term |  |  | 5 years | 5 years |  |  |  |
Payments of Debt Issuance Costs |  |  | $ 1,800 |  | $ 700 |  |  |
Amortization of Debt Issuance Costs |  |  |  |  | $ 500 | $ 1,000 |  |
Line of Credit Facility, Percentage of Capital Stock of Foreign Subsidiaries Collateralized Security |  |  | 65.00% |  |  |  |  |
LIBOR Additional Rate |  |  | 1.00% |  |  |  |  |
Credit and Security Agreement with KeyBank [Member] | Term Loan [Member] |  |  |  |  |  |  |  |
Long-term Debt, Maturities, Repayments of Principal in Next Twelve Months |  |  |  |  |  |  | $ 5,900 |
Credit and Security Agreement with KeyBank [Member] | Subsequent Event [Member] | Term Loan [Member] |  |  |  |  |  |  |  |
Repayments of Long-term Debt, Total |  | $ 8,200 |  |  |  |  |  |
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) [Member] |  |  |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  |  |  |  |  |  | 1.50% | 1.75%
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) [Member] | Minimum [Member] |  |  |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  |  | 1.375% |  |  |  |  |
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) [Member] | Maximum [Member] |  |  |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  |  | 2.75% |  |  |  |  |
Credit and Security Agreement with KeyBank [Member] | Fed Funds Effective Rate Overnight Index Swap Rate [Member] |  |  |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  |  | 0.50% |  |  |  |  |
Credit and Security Agreement with KeyBank [Member] | LIBOR With Maturity of One Month [Member] | Minimum [Member] |  |  |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  |  | 0.375% |  |  |  |  |
Credit and Security Agreement with KeyBank [Member] | LIBOR With Maturity of One Month [Member] | Maximum [Member] |  |  |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  |  | 1.75% |  |  |  |  |
Credit and Security Agreement with KeyBank [Member] | Revolving Credit Facility [Member] |  |  |  |  |  |  |  |
Line of Credit Facility, Remaining Borrowing Capacity |  |  |  |  |  |  | $ 43,000 | $ 75,000
Line of Credit Facility, Maximum Borrowing Capacity |  |  | $ 75,000 | $ 50,000 |  |  |  |
Credit and Security Agreement with KeyBank [Member] | Term Loan [Member] |  |  |  |  |  |  |  |
Long-term Debt, Total |  |  |  |  |  |  | 113,000 | 116,000
Long-term Line of Credit, Total |  |  |  |  |  |  | $ 32,000 | $ 0
Debt Instrument, Face Amount |  |  | $ 125,000 | 145,000 |  |  |  |
Credit and Security Agreement with KeyBank [Member] | Delayed Draw Term Loan ("DDTL") [Member] |  |  |  |  |  |  |  |
Debt Instrument, Face Amount |  |  |  | $ 70,000 |  |  |  |
[1] | The $5.9 million of scheduled principal payments for 2020 noted in the table above was paid in full on February 18, 2020, as part of the above-mentioned $8.2 million voluntary prepayment made in connection with the amendment to the Credit Agreement.

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- Definition The percentage of issued and outstanding shares of the capital stock of foreign subsidiaries given as collateralized security to line of credit. + References No definition available. + Details
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- Definition Amount of amortization expense attributable to debt issuance costs. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=118932676&loc=d3e3602-108585 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03(8)) -URI http://asc.fasb.org/extlink&oid=116634182&loc=SL114868664-224227 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=114775744&loc=d3e28555-108399 + Details
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- Definition Amount, after unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 470 -SubTopic 20 -Section 50 -Paragraph 4 -Subparagraph (b)(3) -URI http://asc.fasb.org/extlink&oid=109500613&loc=SL6031897-161870 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 944 -SubTopic 210 -Section S99 -Paragraph 1 -Subparagraph (SX 210.7-03(a)(16)) -URI http://asc.fasb.org/extlink&oid=119400593&loc=d3e572229-122910 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 942 -SubTopic 210 -Section S99 -Paragraph 1 -Subparagraph (SX 210.9-03(16)) -URI http://asc.fasb.org/extlink&oid=6876686&loc=d3e534808-122878 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(22)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 + Details
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