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Note 10 - Derivative Instruments and Hedging Activities (Details Textual) - USD ($) $ in Millions | Sep. 30, 2023 | Jan. 31, 2023 | Dec. 31, 2022
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Foreign Exchange Forward [Member] |  |  |
Derivative, Notional Amount | $ 25.9 |  | $ 25.7
The 2021 Swaps One [Member] |  |  |
Derivative, Notional Amount |  |  | $ 30.0
Derivative, Fixed Interest Rate |  | 1.334% | 1.3055%
The 2021 Swaps Two [Member] |  |  |
Derivative, Notional Amount |  |  | $ 30.0
Derivative, Fixed Interest Rate |  | 1.348% | 1.318%
The 2021 Swaps [Member] |  |  |
Derivative, Notional Amount |  |  | $ 60.0
The 2021 Swaps [Member] | Secured Overnight Financing Rate (SOFR) [Member] |  |  |
Derivative, Basis Spread on Variable Rate |  | 0.10% |

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- Definition The percentage points added to the reference rate to compute the variable rate on the interest rate derivative. + References No definition available. + Details
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- Definition Fixed interest rate related to the interest rate derivative. + References No definition available. + Details
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- Definition Nominal or face amount used to calculate payment on derivative. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 815 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1B -Publisher FASB -URI https://asc.fasb.org//1943274/2147480434/815-10-50-1B Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 815 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1A -Subparagraph (d) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480434/815-10-50-1A + Details
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