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Note 9 - Derivative Instruments and Hedging Activities (Tables) | 3 Months Ended
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Mar. 31, 2023
Notes Tables |
Schedule of Derivative Instruments in Statement of Financial Position, Fair Value [Table Text Block] |
| Balance Sheet Classification |  | March 31, 2023 |  |  | December 31, 2022 |
Derivative assets: |  |  |  |  |  |  |  |  |
Foreign currency forward contracts: |  |  |  |  |  |  |  |  |
Designated as cash flow hedges | Other current assets |  | $ | 329 |  |  | $ | 359 |
Interest rate swap agreements: |  |  |  |  |  |  |  |  |
Designated as a cash flow hedge | Other assets |  |  | 4,645 |  |  |  | 5,539 |
Total derivative assets |  | $ | 4,974 |  |  | $ | 5,898 |
Derivative Instruments, Gain (Loss) [Table Text Block] |
|  | Three Months Ended |
|  | March 31, |
|  | 2023 |  |  | 2022 |
Net (losses) gains recognized in AOCL: |  |  |  |  |  |  |  |
Foreign currency forward contracts |  | $ | (361 | ) |  | $ | 154 |
Interest rate swap agreements |  |  | (408 | ) |  |  | 2,809 |
|  | $ | (769 | ) |  | $ | 2,963 |
Net gains (losses) reclassified from AOCL to the consolidated statement of operations: |  |  |  |  |  |  |  |
Foreign currency forward contracts |  | $ | 151 |  |  | $ | 67 |
Interest rate swap agreements |  |  | 486 |  |  |  | (176 | )
|  | $ | 637 |  |  | $ | (109 | )
Derivatives Not Designated as Hedging Instruments [Table Text Block] |
|  |  | Three Months Ended |
|  |  | March 31, |
| Classification in Consolidated Statements of Operations |  | 2023 |  |  | 2022 |
Foreign currency forward contracts | Other (expense) income, net |  | $ | - |  |  | $ | (7 | )
|  |  | $ | - |  |  | $ | (7 | )

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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 -Topic 815 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 4E -Publisher FASB -URI https://asc.fasb.org//1943274/2147480434/815-10-50-4E Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4C -Publisher FASB -URI https://asc.fasb.org//1943274/2147480434/815-10-50-4C Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4A -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480434/815-10-50-4A + Details
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