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Note 13 - Financial Instruments (Details Textual) - USD ($) $ in Thousands, shares in Millions |  | 12 Months Ended
--- | --- | ---
Feb. 26, 2021 | Dec. 31, 2023 | Dec. 31, 2022
Derivatives Hedging Instruments |  | $ 0 | $ 0
Fair Value, Inputs, Level 2 [Member] |  |  |
Long-Term Debt, Fair Value |  | 396,000 | 271,000
Forward Contracts [Member] |  |  |
Foreign Currency Contract, Asset, Fair Value Disclosure |  | 3,000 | 1,000
Foreign Currency Contracts, Liability, Fair Value Disclosure |  | 0 | 1,000
Series A Preferred Stock [Member] |  |  |
Stock Repurchased During Period, Shares (in shares) | 1 |  |
Remaining Embedded Conversion Features And Term Extension Option Net Expense | $ 2,000 |  |
Series B Preferred Stock [Member] |  |  |
Stock Issued During Period Number Of New Shares Exchanged (in shares) | 1 |  |
Foreign Exchange Forward [Member] | Not Designated as Hedging Instrument [Member] |  |  |
Derivative Asset, Notional Amount |  | $ 279,000 | $ 308,000

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