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Note 10 - Accumulated Other Comprehensive Loss - Reclassification of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Cost of sales $ 93,891 $ 94,442 $ 176,411 $ 188,987
Net sales 116,372 118,522 215,469 227,853
Tax (expense) benefit (2,692) (3,412) (3,643) (4,755)
Interest expense 1,191 869 2,560 1,429
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Total reclassifications for the period     (6) (3)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Foreign Exchange Forward [Member]        
Total reclassifications for the period     (8) (195)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Interest Rate Swap [Member]        
Total reclassifications for the period     266 (62)
Reclassification out of Accumulated Other Comprehensive Income [Member]        
Total reclassifications for the period 168 (269) 252 (260)
Reclassification out of Accumulated Other Comprehensive Income [Member] | Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Cost of sales (3) (1) (6) (3)
Total reclassifications for the period (3) (1) (6) (3)
Reclassification out of Accumulated Other Comprehensive Income [Member] | Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Foreign Exchange Forward [Member]        
Total reclassifications for the period 24 (206) (8) (195)
Net sales 33 (105) 77 (91)
Property and equipment 0 (127) (87) (127)
Tax (expense) benefit (9) 26 2 23
Reclassification out of Accumulated Other Comprehensive Income [Member] | Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Interest Rate Swap [Member]        
Total reclassifications for the period 147 (62) 266 (62)
Tax (expense) benefit (47) 20 (86) 20
Interest expense $ 194 $ (82) $ 352 $ (82)