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Note 11 - Accumulated Other Comprehensive Loss - Reclassification of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Cost of sales $ 99,428 $ 97,866 $ 275,839 $ 286,853
Net sales 118,722 122,984 334,191 350,837
Tax (expense) benefit (2,016) (3,555) (5,659) (8,310)
Interest expense 1,162 964 3,722 2,393
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Total reclassifications for the period     (10) (5)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Foreign Exchange Forward [Member]        
Total reclassifications for the period     (17) (138)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Interest Rate Swap [Member]        
Total reclassifications for the period     418 (59)
Reclassification out of Accumulated Other Comprehensive Income [Member]        
Total reclassifications for the period 139 58 391 (202)
Reclassification out of Accumulated Other Comprehensive Income [Member] | Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Cost of sales (4) (2) (10) (5)
Total reclassifications for the period (4) (2) (10) (5)
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 (9) 57 (17) (138)
Net sales 10 35 87 (56)
Property and equipment (22) 0 (109) (127)
Tax (expense) benefit 3 22 5 45
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 152 3 418 (59)
Tax (expense) benefit (49) (1) (135) 19
Interest expense $ 201 $ 4 $ 553 $ (78)