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Note 10 - Fair Value Measurements (Tables)
 12 Months Ended
Dec. 31, 2022
Notes Tables  
Schedule of Fair Value, Assets and Liabilities Measured on Recurring Basis [Table Text Block]
  

Total

  

Level 1

  

Level 2

  

Level 3

 

As of December 31, 2022

                

Financial assets:

                

Deferred compensation plan

 $3,587  $3,090  $497  $- 

Foreign currency forward contracts

  728   -   728   - 

Interest rate swaps

  862   -   862   - 

Total financial assets

 $5,177  $3,090  $2,087  $- 
                 

Financial liabilities:

                

Foreign currency forward contracts

 $(80

)

 $-  $(80

)

 $- 
                 

As of December 31, 2021

                

Financial assets:

                

Deferred compensation plan

 $4,321  $3,830  $491  $- 

Foreign currency forward contracts

  17   -   17   - 

Total financial assets

 $4,338  $3,830  $508  $- 
                 

Financial liabilities:

                

Foreign currency forward contracts

 $(661

)

 $-  $(661

)

 $-