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Note 9 - Debt (Details Textual) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Feb. 18, 2020
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Repayments of Long-term Debt, Total       $ 8,179 $ 1,487  
Credit and Security Agreement with KeyBank [Member]            
Debt Issuance Costs, Net, Total   $ 1,600   $ 1,600   $ 1,300
Debt, Weighted Average Interest Rate   3.44%   3.44%   3.31%
Interest Expense, Debt, Total   $ 1,300 $ 1,400 $ 2,600 $ 2,800  
Credit and Security Agreement with KeyBank [Member] | Term Loan [Member]            
Repayments of Long-term Debt, Total $ 8,200          
Credit and Security Agreement with KeyBank [Member] | Revolving Credit Facility [Member]            
Line of Credit Facility, Maximum Borrowing Capacity   75,000   75,000   $ 75,000
Long-term Line of Credit, Total   32,000   32,000   32,000
Credit and Security Agreement with KeyBank [Member] | Term Loan [Member]            
Long-term Debt, Total   $ 104,800   $ 104,800   $ 113,000