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Note 3 - Fair Value Measurements - Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Total financial assets $ 4,766 $ 5,177
Fair Value, Inputs, Level 1 [Member]    
Total financial assets 3,173 3,090
Fair Value, Inputs, Level 2 [Member]    
Total financial assets 1,593 2,087
Fair Value, Inputs, Level 3 [Member]    
Total financial assets 0 0
Deferred Compensation Plan [Member]    
Deferred compensation plan 3,677 3,587
Deferred Compensation Plan [Member] | Fair Value, Inputs, Level 1 [Member]    
Deferred compensation plan 3,173 3,090
Deferred Compensation Plan [Member] | Fair Value, Inputs, Level 2 [Member]    
Deferred compensation plan 504 497
Deferred Compensation Plan [Member] | Fair Value, Inputs, Level 3 [Member]    
Deferred compensation plan 0 0
Foreign Exchange Forward [Member]    
Derivative assets 463 728
Foreign currency forward contracts (18) (80)
Foreign Exchange Forward [Member] | Fair Value, Inputs, Level 1 [Member]    
Derivative assets 0 0
Foreign currency forward contracts 0 0
Foreign Exchange Forward [Member] | Fair Value, Inputs, Level 2 [Member]    
Derivative assets 463 728
Foreign currency forward contracts (18) (80)
Foreign Exchange Forward [Member] | Fair Value, Inputs, Level 3 [Member]    
Derivative assets 0 0
Foreign currency forward contracts 0 0
Interest Rate Swap [Member]    
Derivative assets 626 862
Interest Rate Swap [Member] | Fair Value, Inputs, Level 1 [Member]    
Derivative assets 0 0
Interest Rate Swap [Member] | Fair Value, Inputs, Level 2 [Member]    
Derivative assets 626 862
Interest Rate Swap [Member] | Fair Value, Inputs, Level 3 [Member]    
Derivative assets $ 0 $ 0