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Note 12 - Derivative Instruments and Hedging Activities (Tables) | 12 Months Ended
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Dec. 31, 2022
Notes Tables |
Schedule of Derivative Instruments in Statement of Financial Position, Fair Value [Table Text Block] |
| Balance Sheet Classification |  | December 31, 2022 |  |  | December 31, 2021 |
Derivative assets: |  |  |  |  |  |  |  |  |
Foreign currency forward contracts: |  |  |  |  |  |  |  |  |
Designated as cash flow hedges | Other current assets |  | $ | 359 |  |  | $ | 57 |
Interest rate swap agreements: |  |  |  |  |  |  |  |  |
Designated as a cash flow hedge | Other assets |  |  | 5,539 |  |  |  | - |
Total derivative assets |  | $ | 5,898 |  |  | $ | 57 |
Derivative liabilities: |  |  |  |  |  |  |  |  |
Foreign currency forward contracts: |  |  |  |  |  |  |  |  |
Not designated as hedging instruments | Other current liabilities |  | $ | - |  |  | $ | 19 |
Interest rate swap agreements: |  |  |  |  |  |  |  |  |
Designated as a cash flow hedge | Other long-term liabilities |  |  | - |  |  |  | 116 |
Total derivative liabilities |  | $ | - |  |  | $ | 135 |
Derivative Instruments, Gain (Loss) [Table Text Block] |
|  | Year Ended December 31, |
|  | 2022 |  |  | 2021 |
Net (losses) gains recognized in AOCL: |  |  |  |  |  |  |  |
Foreign currency forward contracts |  | $ | (119 | ) |  | $ | 57 |
Interest rate swap agreements |  |  | 5,886 |  |  |  | (116 | )
|  | $ | 5,767 |  |  | $ | (59 | )
Net (losses) gains reclassified from AOCL to the consolidated statement of operations: |  |  |  |  |  |  |  |
Foreign currency forward contracts |  | $ | (805 | ) |  | $ | - |
Interest rate swap agreements |  |  | 230 |  |  |  | - |
|  | $ | (575 | ) |  | $ | - |
Derivatives Not Designated as Hedging Instruments [Table Text Block] |
|  |  | Year Ended December 31, |
| Classification in Consolidated Statements of Operations |  | 2022 |  |  | 2021 |
Foreign currency forward contracts | Other expense, net |  |  | 58 |  |  |  | 62 |
|  |  | $ | 58 |  |  | $ | 62 |

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- Definition Tabular disclosure of the location and amount of derivative instruments and nonderivative instruments designated as hedging instruments reported before netting adjustments, and the amount of gain (loss) on derivative instruments and nonderivative instruments designated and qualified as hedging instruments. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4E -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5624181-113959 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4A -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5618551-113959 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4C -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5624171-113959 + Details
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