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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, 2022	Dec. 31, 2021
Total financial assets	$ 5,177	$ 4,338
Foreign Exchange Forward [Member]
Derivative assets	728	17
Foreign currency forward contracts	(80)	(661)
Interest Rate Swap [Member]
Derivative assets	862
Fair Value, Inputs, Level 1 [Member]
Total financial assets	3,090	3,830
Fair Value, Inputs, Level 1 [Member] | Foreign Exchange Forward [Member]
Derivative assets	0	0
Foreign currency forward contracts	0	0
Fair Value, Inputs, Level 1 [Member] | Interest Rate Swap [Member]
Derivative assets	0
Fair Value, Inputs, Level 2 [Member]
Total financial assets	2,087	508
Fair Value, Inputs, Level 2 [Member] | Foreign Exchange Forward [Member]
Derivative assets	728	17
Foreign currency forward contracts	(80)	(661)
Fair Value, Inputs, Level 2 [Member] | Interest Rate Swap [Member]
Derivative assets	862
Fair Value, Inputs, Level 3 [Member]
Total financial assets	0	0
Fair Value, Inputs, Level 3 [Member] | Foreign Exchange Forward [Member]
Derivative assets	0	0
Foreign currency forward contracts	0	0
Fair Value, Inputs, Level 3 [Member] | Interest Rate Swap [Member]
Derivative assets	0
Pension Plan [Member]
Deferred compensation plan	3,587	4,321
Pension Plan [Member] | Fair Value, Inputs, Level 1 [Member]
Deferred compensation plan	3,090	3,830
Pension Plan [Member] | Fair Value, Inputs, Level 2 [Member]
Deferred compensation plan	497	491
Pension Plan [Member] | Fair Value, Inputs, Level 3 [Member]
Deferred compensation plan	$ 0	$ 0

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Fair value portion of probable future economic benefits obtained or controlled by an entity as a result of past transactions or events.

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