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Note 8 - Accumulated Other Comprehensive Income (Loss) - Accumulated Other Comprehensive Loss Reported in the Consolidated Balance Sheets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Balances December 31, 2019	$ 329,976	$ 315,513	$ 307,878
Balance at December 31, 2020	331,194	329,976	315,513
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]
Balances December 31, 2019	(7,851)	(5,044)	(8,155)
Reclassification adjustments	0	0	0
Current period benefit (charge)	2,768	2,807	3,111
Income tax benefit	0	0	0
Balance at December 31, 2020	(10,619)	(7,851)	(5,044)
Reclassification adjustments	0	0	(0)
Current period benefit (charge)	(2,768)	(2,807)	(3,111)
Income tax charge	0	0	(0)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]
Balances December 31, 2019	(22,479)	(25,333)	(20,382)
Reclassification adjustments	(8,519)	(4,788)	7,049
Current period benefit (charge)	(3,610)	1,045	(13,510)
Income tax benefit	2,888	889	1,510
Balance at December 31, 2020	(13,238)	(22,479)	(25,333)
Reclassification adjustments	8,519	4,788	(7,049)
Current period benefit (charge)	3,610	(1,045)	13,510
Income tax charge	(2,888)	(889)	(1,510)
AOCI Attributable to Parent [Member]
Balances December 31, 2019	(30,330)	(30,377)	(28,537)
Reclassification adjustments	(8,476)	(4,788)	7,049
Current period benefit (charge)	(76)	3,852	(10,399)
Income tax benefit	2,696	889	1,510
Balance at December 31, 2020	(24,474)	(30,330)	(30,377)
Reclassification adjustments	8,476	4,788	(7,049)
Current period benefit (charge)	76	(3,852)	10,399
Income tax charge	(2,696)	$ (889)	$ (1,510)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]
Reclassification adjustments	43
Current period benefit (charge)	766
Income tax benefit	(192)
Balance at December 31, 2020	(617)
Reclassification adjustments	(43)
Current period benefit (charge)	(766)
Income tax charge	$ 192

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