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Note 10 - Derivative Instruments and Hedging Activities - Derivative Financial Instruments Effects on Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Net (losses) gains recognized in AOCL	$ 260	$ 245	$ (509)	$ 3,208
Net losses reclassified from AOCL to the consolidated statement of operations	525	(223)	1,162	(332)
Foreign Exchange Forward [Member]
Net (losses) gains recognized in AOCL	(1,091)	(679)	(1,452)	(525)
Net losses reclassified from AOCL to the consolidated statement of operations	(37)	(140)	114	(73)
Interest Rate Swap [Member]
Net (losses) gains recognized in AOCL	1,351	924	943	3,733
Net losses reclassified from AOCL to the consolidated statement of operations	$ 562	$ (83)	$ 1,048	$ (259)

X

- Definition

Amount, after tax and before reclassification, of gain (loss) from derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 11
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-11

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 10A
-Subparagraph (d)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-10A

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X

- Definition

Amount, after tax, of reclassification of gain (loss) from accumulated other comprehensive income (AOCI) for derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 11
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-11

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 15
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-15

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