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Note 10 - Derivative Instruments and Hedging Activities - Fair Value of Derivative Financial Instruments (Details) - USD ($) $ in Thousands | Jun. 30, 2023 | Dec. 31, 2022
--- | --- | ---
Total derivative assets | $ 5,590 | $ 5,898
Total derivative liabilities | 897 | 0
Interest Rate Swap [Member] |  |
Total derivative assets | 5,400 | 5,500
Other Current Assets [Member] | Foreign Exchange Forward [Member] |  |
Designated as cash flow hedges | 0 | 359
Not designated as hedging instruments | 157 | 0
Other Noncurrent Assets [Member] | Interest Rate Swap [Member] |  |
Designated as a cash flow hedge | 5,433 | 5,539
Designated as cash flow hedges | 5,433 | 5,539
Other Current Liabilities [Member] | Foreign Exchange Forward [Member] |  |
Designated as a cash flow hedge | 897 | 0
Designated as cash flow hedges | $ 897 | $ 0

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