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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, 2020 | Dec. 31, 2019
Long-term Debt, Total |  |  |  |  |  | $ 116,835 |
Amortization of Debt Issuance Costs |  |  |  |  |  | 654 | $ 466
Repayments of Long-term Debt, Total |  |  |  |  |  | 8,179 | 2,974
Credit and Security Agreement with KeyBank [Member] |  |  |  |  |  |  |
Debt Issuance Costs, Net, Total |  |  | $ 5,800 |  |  | $ 1,300 | $ 1,300
Line of Credit Facility, Interest Rate at Period End |  |  |  |  |  | 2.19% | 3.31%
Effective LIBOR Rate |  |  |  |  |  | 0.19% | 1.81%
Interest Expense, Debt, Total |  |  |  |  |  | $ 4,700 | $ 5,400
Debt Instrument, Term (Year) |  | 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] |  |  |  |  |  |  |
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 |  | 0.50% |  |  |  | 2.00% | 1.50%
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] | 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] |  |  |  |  |  |  |
Long-term Line of Credit, Total |  |  |  |  |  | $ 12,000 | $ 32,000
Line of Credit Facility, Remaining Borrowing Capacity |  |  |  |  |  | 63,000 | 43,000
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 |  |  |  |  |  | $ 104,800 | $ 113,000
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 |  |  |  |

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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=121586364&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=120395209&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=119993939&loc=d3e28555-108399 + Details
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- Definition Period of time between issuance and maturity of debt instrument, in PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References No definition available. + Details
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- Definition Amount, after accumulated amortization, of debt issuance costs. Includes, but is not limited to, legal, accounting, underwriting, printing, and registration costs. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.17) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=119993939&loc=d3e28555-108399 + Details
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- Definition Amount of the cost of borrowed funds accounted for as interest expense for debt. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 470 -SubTopic 20 -Section 50 -Paragraph 6 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=120520924&loc=SL6036836-161870 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=120395209&loc=SL114868664-224227 + Details
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- Definition The carrying value as of the balance sheet date of the current and noncurrent portions of long-term obligations drawn from a line of credit, which is a bank's commitment to make loans up to a specific amount. Examples of items that might be included in the application of this element may consist of letters of credit, standby letters of credit, and revolving credit arrangements, under which borrowings can be made up to a maximum amount as of any point in time conditional on satisfaction of specified terms before, as of and after the date of drawdowns on the line. Includes short-term obligations that would normally be classified as current liabilities but for which (a) postbalance sheet date issuance of a long term obligation to refinance the short term obligation on a long term basis, or (b) the enterprise has entered into a financing agreement that clearly permits the enterprise to refinance the short-term obligation on a long term basis and the following conditions are met (1) the agreement does not expire within 1 year and is not cancelable by the lender except for violation of an objectively determinable provision, (2) no violation exists at the BS date, and (3) the lender has entered into the financing agreement is expected to be financially capable of honoring the agreement. + References Reference 1: 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=120391452&loc=d3e13212-122682 Reference 2: 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=120398452&loc=d3e534808-122878 Reference 3: 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(16)) -URI http://asc.fasb.org/extlink&oid=120400017&loc=d3e572229-122910 + 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=120520924&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=120400017&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=120398452&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=120391452&loc=d3e13212-122682 + Details
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