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Note 8 - Derivative Instruments and Hedging Activities (Details Textual) - Foreign Exchange Forward [Member]
$ in Thousands, $ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
USD ($)
Sep. 30, 2019
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2020
CAD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2019
CAD ($)
Derivative, Notional Amount $ 11,200   $ 11,200 $ 14.9    
Derivative, Number of Instruments Held, Total 3   3 3    
Unrealized Loss on Foreign Currency Derivatives, before Tax     $ 100      
Foreign Currency Cash Flow Hedge Gain (Loss) to be Reclassified During Next 12 Months $ 0   $ 0      
Minimum [Member]            
Derivative, Remaining Maturity (Month)     15 months      
Maximum [Member]            
Derivative, Remaining Maturity (Month)     20 months      
Designated as Hedging Instrument [Member]            
Derivative, Notional Amount 16,700   $ 16,700 $ 22.3 $ 6,100 $ 7.9
Not Designated as Hedging Instrument [Member]            
Derivative Instruments Not Designated as Hedging Instruments, Gain (Loss), Net, Total $ (200) $ 0 $ 0