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Note 6 - Fair Value Measurements (Tables) | 6 Months Ended
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Jun. 30, 2024
Notes Tables |
Fair Value, Assets Measured on Recurring and Nonrecurring Basis [Table Text Block] |
|  | June 30, 2024 |
|  | Carrying value |  |  | Fair value |  |  | Cash and cash equivalents |  |  | Other Current Assets |
Cash |  | $ | 61,321 |  |  | $ | 61,321 |  |  | $ | 61,321 |  |  | $ | - |
Level 1: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Money market funds |  |  | 22,201 |  |  |  | 22,201 |  |  |  | 22,201 |  |  |  | - |
Money market funds (Rabbi Trust) |  |  | 804 |  |  |  | 804 |  |  |  | - |  |  |  | - |
Subtotal |  |  | 23,005 |  |  |  | 23,005 |  |  |  | 22,201 |  |  |  | - |
Level 2: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Certificates of deposit and time deposits |  |  | 4,553 |  |  |  | 4,868 |  |  |  | 1,454 |  |  |  | 3,099 |
Subtotal |  |  | 4,553 |  |  |  | 4,868 |  |  |  | 1,454 |  |  |  | 3,099 |
Total |  | $ | 88,879 |  |  | $ | 89,194 |  |  | $ | 84,976 |  |  | $ | 3,099 |
|  | December 31, 2023 |
|  | Carrying value |  |  | Fair value |  |  | Cash and cash equivalents |  |  | Other Current Assets |
Cash |  | $ | 57,544 |  |  | $ | 57,544 |  |  | $ | 57,544 |  |  | $ | - |
Level 1: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Money market funds |  |  | 31,188 |  |  |  | 31,188 |  |  |  | 31,188 |  |  |  | - |
Money market funds (Rabbi Trust) |  |  | 303 |  |  |  | 303 |  |  |  | - |  |  |  | 303 |
Subtotal |  |  | 31,491 |  |  |  | 31,491 |  |  |  | 31,188 |  |  |  | 303 |
Level 2: |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Certificates of deposit and time deposits |  |  | 3,629 |  |  |  | 3,926 |  |  |  | 639 |  |  |  | 2,990 |
Subtotal |  |  | 3,629 |  |  |  | 3,926 |  |  |  | 639 |  |  |  | 2,990 |
Total |  | $ | 92,664 |  |  | $ | 92,961 |  |  | $ | 89,371 |  |  | $ | 3,293 |
Schedule of Derivative Instruments in Statement of Financial Position, Fair Value [Table Text Block] |
| Balance Sheet Classification |  | June 30, 2024 |  |  | December 31, 2023 |
Derivative assets: |  |  |  |  |  |  |  |  |
Foreign currency forward contracts: |  |  |  |  |  |  |  |  |
Designated as cash flow hedges | Other current assets |  | $ | - |  |  | $ | - |
Non designated as hedging instruments | Other current assets |  |  | - |  |  |  | 486 |
Interest rate swap agreements: |  |  |  |  |  |  |  |  |
Designated as a cash flow hedge | Other assets |  |  | 4,012 |  |  |  | 3,960 |
Total derivative assets |  | $ | 4,012 |  |  | $ | 4,446 |
Derivative liabilities: |  |  |  |  |  |  |  |  |
Foreign currency forward contracts: |  |  |  |  |  |  |  |  |
Designated as cash flow hedges | Other current liabilities |  | $ | 232 |  |  | $ | 5 |
Not designated as hedging instruments | Other current liabilities |  |  | 292 |  |  |  | - |
Total derivative liabilities |  | $ | 524 |  |  | $ | 5 |

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