Note 12 - Derivatives and Hedging Activities - Net (Gains) Losses Reclassified from Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Foreign exchange option contracts	$ 29	$ 352	$ 65	$ 514
Cash Flow Hedging [Member]
Foreign exchange option contracts	(29)	(352)	(65)	(514)
Cash Flow Hedging [Member] \| Foreign Exchange Option [Member]
Foreign exchange option contracts				11
Cash Flow Hedging [Member] \| Foreign Exchange Forward [Member]
Foreign exchange option contracts	$ (29)	$ (352)	$ (65)	$ (525)

Amount, before tax, of reclassification of gain (loss) from accumulated other comprehensive income (AOCI) for derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section 45
-Paragraph 15
-URI http://asc.fasb.org/extlink&oid=124509347&loc=d3e689-108580

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section 45
-Paragraph 11
-URI http://asc.fasb.org/extlink&oid=124509347&loc=d3e637-108580

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4C
-Subparagraph (c)
-URI http://asc.fasb.org/extlink&oid=125515794&loc=SL5624171-113959

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Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration