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Note 14 - Accumulated Other Comprehensive Loss - Changes in Accumulated Other Comprehensive Loss by Component (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Balance $ 278,063 $ 215,356 $ 262,346 $ 208,743
Other comprehensive loss (1,428) (5,707) (310) (3,878)
Balance 304,490 225,995 304,490 225,995
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]        
Balance     (23,107)  
Other comprehensive (loss) income before reclassifications     (119)  
Amount reclassified from accumulated other comprehensive loss     (114)  
Other comprehensive loss     (233)  
Balance (23,340)   (23,340)  
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]        
Balance     5,539  
Other comprehensive (loss) income before reclassifications     943  
Amount reclassified from accumulated other comprehensive loss     (1,048)  
Other comprehensive loss     (105)  
Balance 5,434   5,434  
AOCI, Accumulated Gain (Loss), Debt Securities, Available-for-Sale, Parent [Member]        
Balance     18  
Other comprehensive (loss) income before reclassifications     1  
Amount reclassified from accumulated other comprehensive loss     0  
Other comprehensive loss     1  
Balance 19   19  
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Balance     1,004  
Other comprehensive (loss) income before reclassifications     (1)  
Amount reclassified from accumulated other comprehensive loss [1]     28  
Other comprehensive loss     27  
Balance 1,031   1,031  
AOCI Attributable to Parent [Member]        
Balance (15,428) (17,034) (16,546) (18,863)
Other comprehensive (loss) income before reclassifications     824  
Amount reclassified from accumulated other comprehensive loss     (1,134)  
Other comprehensive loss     (310)  
Balance $ (16,856) $ (22,741) $ (16,856) $ (22,741)
[1] This reclassification relates to the amortization of prior service costs and gains/losses associated with the Company's SERP Plan. This expense is reflected in other income (expense), net on the accompanying condensed consolidated statements of operations.