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Condensed Consolidated Statements of Stockholders' Equity (Unaudited) (Parentheticals) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Pension Plan [Member] |  |  |  |
Pension liability adjustment, tax expense/benefit | $ 0 | $ 0 | $ 0 | $ 0
Foreign Exchange Forward [Member] |  |  |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | 142 | $ 8 | 83 | $ 21
Interest Rate Swap [Member] |  |  |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | $ 141 |  | $ 218 |

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