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Note 11 - Debt (Details Textual) - USD ($) $ in Thousands |  | 12 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 02, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Jan. 31, 2023 | Jan. 01, 2023
Interest Rate Swap [Member] |  |  |  |  |
Derivative, Notional Amount |  | $ 30,000 |  |  |
The 2021 Swaps [Member] |  |  |  |  |
Derivative, Notional Amount |  | $ 60,000 |  |  |
The 2021 Swaps [Member] | Secured Overnight Financing Rate (SOFR) [Member] |  |  |  |  |
Derivative, Basis Spread on Variable Rate |  | 0.10% |  |  |
The 2021 Swaps One [Member] |  |  |  |  |
Derivative, Notional Amount |  | $ 30,000 |  |  |
Derivative, Fixed Interest Rate |  | 1.3055% |  | 1.334% | 1.334%
The 2021 Swaps Two [Member] |  |  |  |  |
Derivative, Notional Amount |  | $ 30,000 |  |  |
Derivative, Fixed Interest Rate |  | 1.318% |  | 1.348% | 1.348%
Revolving Credit Facility [Member] |  |  |  |  |
Long-Term Line of Credit |  | $ 60,000 | $ 95,000 |  |
Credit and Security Agreement with KeyBank [Member] |  |  |  |  |
Interest Expense, Debt |  | $ 2,900 | $ 3,400 |  |
Debt, Weighted Average Interest Rate |  | 2.47% | 5.51% |  |
Long-Term Debt, Percentage Bearing Variable Interest, Amount |  | $ 0 | $ 35,000 |  |
Debt Instrument, Interest Rate During Period |  | 2.47% | 3.57% |  |
Line of Credit Facility, Percentage of Capital Stock of Foreign Subsidiaries Collateralized Security | 65.00% |  |  |  |
LIBOR Additional Rate |  | 1.00% |  |  |
Credit and Security Agreement with KeyBank [Member] | Minimum [Member] |  |  |  |  |
Line of Credit Facility, Commitment Fee Percentage |  | 0.20% |  |  |
Credit and Security Agreement with KeyBank [Member] | Maximum [Member] |  |  |  |  |
Line of Credit Facility, Commitment Fee Percentage |  | 0.30% |  |  |
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) 1 [Member] | Minimum [Member] |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  | 1.125% |  |  |
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) 1 [Member] | Maximum [Member] |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  | 2.125% |  |  |
Credit and Security Agreement with KeyBank [Member] | Fed Funds Effective Rate Overnight Index Swap Rate [Member] |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  | 0.50% |  |  |
Credit and Security Agreement with KeyBank [Member] | LIBOR With Maturity of One Month [Member] | Minimum [Member] |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  | 0.125% |  |  |
Credit and Security Agreement with KeyBank [Member] | LIBOR With Maturity of One Month [Member] | Maximum [Member] |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate |  | 1.125% |  |  |
Credit and Security Agreement with KeyBank [Member] | Revolving Credit Facility [Member] |  |  |  |  |
Line of Credit Facility, Maximum Borrowing Capacity |  | $ 175,000 |  |  |
Debt Instrument, Term (Year) |  | 5 years |  |  |
Line of Credit Facility, Maximum Letters of Credit Capacity |  | $ 10,000 |  |  |
Line of Credit Facility, Maximum Swing Line Loan Capacity |  | 5,000 |  |  |
Line of Credit Facility, Remaining Borrowing Capacity |  | $ 115,000 | $ 80,000 |  |
Debt Instrument, Additional Borrowing Capacity | $ 100,000 |  |  |  |
Debt Instrument, Maximum Principal Borrowing Capacity in Foreign Currencies | $ 15,000 |  |  |  |

X
- Definition Amount of additional borrowing capacity currently available under the credit facility (current borrowing capacity less the amount of borrowings outstanding). + References No definition available. + Details
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- Definition Maximum borrowing capacity in foreign currencies under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility. + References No definition available. + Details
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- Definition The LIBOR rate for alternate base rate. + References No definition available. + Details
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- Definition Maximum letters of credit capacity under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility. + References No definition available. + Details
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- Definition Maximum swing line loan capacity under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility. + References No definition available. + Details
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- Definition The percentage of issued and outstanding shares of the capital stock of foreign subsidiaries given as collateralized security to line of credit. + References No definition available. + Details
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- Definition Percentage points added to the reference rate to compute the variable rate on the debt instrument. + References No definition available. + Details
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- Definition The average effective interest rate during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 470 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1F -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147481139/470-20-50-1F Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482925/835-30-45-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.22(a)(1)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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- Definition Period of time between issuance and maturity of debt instrument, in PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References No definition available. + Details
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- Definition Weighted average interest rate of debt outstanding. + References No definition available. + Details
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- Definition Amount of the cost of borrowed funds accounted for as interest expense for debt. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 470 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 69E -Publisher FASB -URI https://asc.fasb.org//1943274/2147481568/470-20-55-69E Reference 2: http://www.xbrl.org/2003/role/exampleRef -Topic 470 -SubTopic 20 -Name Accounting Standards Codification -Section 55 -Paragraph 69F -Publisher FASB -URI https://asc.fasb.org//1943274/2147481568/470-20-55-69F Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 470 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 1F -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147481139/470-20-50-1F Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 220 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03.8) -Publisher FASB -URI https://asc.fasb.org//1943274/2147483621/220-10-S99-2 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Topic 470 -SubTopic 20 -Name Accounting Standards Codification -Section 50 -Paragraph 6 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147481139/470-20-50-6 + Details
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- Definition The carrying value as of the balance sheet date of the current and noncurrent portions of long-term obligations drawn from a line of credit, which is a bank's commitment to make loans up to a specific amount. Examples of items that might be included in the application of this element may consist of letters of credit, standby letters of credit, and revolving credit arrangements, under which borrowings can be made up to a maximum amount as of any point in time conditional on satisfaction of specified terms before, as of and after the date of drawdowns on the line. Includes short-term obligations that would normally be classified as current liabilities but for which (a) postbalance sheet date issuance of a long term obligation to refinance the short term obligation on a long term basis, or (b) the enterprise has entered into a financing agreement that clearly permits the enterprise to refinance the short-term obligation on a long term basis and the following conditions are met (1) the agreement does not expire within 1 year and is not cancelable by the lender except for violation of an objectively determinable provision, (2) no violation exists at the BS date, and (3) the lender has entered into the financing agreement is expected to be financially capable of honoring the agreement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(22)) -SubTopic 10 -Topic 210 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 944 -SubTopic 210 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.7-03(a)(16)(a)(2)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479440/944-210-S99-1 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 942 -SubTopic 210 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.9-03(16)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479853/942-210-S99-1 + Details
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- Definition The fee, expressed as a percentage of the line of credit facility, for the line of credit facility regardless of whether the facility has been used. + References No definition available. + Details
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- Definition Maximum borrowing capacity under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.19(b),22(b)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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- Definition Amount of borrowing capacity currently available under the credit facility (current borrowing capacity less the amount of borrowings outstanding). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.19(b),22(b)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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- Definition The portion of the carrying amount of long-term borrowings outstanding as of the balance sheet date, including current maturities, which accrues interest at a rate subject to change from time to time. + References No definition available. + Details
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