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Condensed Consolidated Statements of Stockholders' Equity (Unaudited) (Parentheticals) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Foreign Exchange Forward [Member] |  |  |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | $ 106 | $ 5 | $ 59 | $ 13
Interest Rate Swap [Member] |  |  |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | 77 |  | 77 |
Pension liability adjustment, tax expense/benefit | $ 0 | $ 0 | $ 0 | $ 0

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