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Note 7 - Accumulated Other Comprehensive Income (Loss) - Accumulated Other Comprehensive Loss Reported in the Consolidated Balance Sheets (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Balances $ 331,194 $ 329,976 $ 315,513
Balance at December 31, 2020 349,459 331,194 329,976
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]      
Balances (10,619) (7,851) (5,044)
Reclassification adjustments 0 0 0
Current period benefit (charge) (931) 2,768 (2,807)
Income tax benefit 0 0 0
Balance at December 31, 2020 (9,688) (10,619) (7,851)
Reclassification adjustments 0 0 (0)
Current period benefit (charge) 931 (2,768) 2,807
Income tax charge 0 0 (0)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]      
Balances (13,238) (22,479) (25,333)
Reclassification adjustments (1,423) (8,519) 4,788
Current period benefit (charge) 2,667 (3,610) (1,045)
Income tax benefit (302) 2,888 (889)
Balance at December 31, 2020 (14,180) (13,238) (22,479)
Reclassification adjustments 1,423 8,519 (4,788)
Current period benefit (charge) (2,667) 3,610 1,045
Income tax charge 302 (2,888) 889
AOCI Attributable to Parent [Member]      
Balances (24,474) (30,330) (30,377)
Reclassification adjustments 207 (8,476) 4,788
Current period benefit (charge) 697 (76) (3,852)
Income tax benefit (441) 2,696 (889)
Balance at December 31, 2020 (24,937) (24,474) (30,330)
Reclassification adjustments (207) 8,476 (4,788)
Current period benefit (charge) (697) 76 3,852
Income tax charge 441 $ (2,696) $ 889
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]      
Reclassification adjustments 1,630    
Current period benefit (charge) (1,039)    
Income tax benefit (139)    
Balance at December 31, 2020 (1,069)    
Reclassification adjustments (1,630)    
Current period benefit (charge) 1,039    
Income tax charge $ 139