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Note 10 - Fair Value Measurements - Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019
--- | --- | ---
Deferred compensation plan | $ 4,717 | $ 5,150
Foreign currency forward contracts | (1,150) | (138)
Fair Value, Inputs, Level 1 [Member] |  |
Deferred compensation plan | 3,884 | 4,268
Foreign currency forward contracts | 0 | 0
Fair Value, Inputs, Level 2 [Member] |  |
Deferred compensation plan | 833 | 882
Foreign currency forward contracts | (1,150) | (138)
Fair Value, Inputs, Level 3 [Member] |  |
Deferred compensation plan | 0 | 0
Foreign currency forward contracts | $ 0 | $ 0

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