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Consolidated Statements of Stockholders' Equity (Parentheticals) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Pension Plan [Member] |  |  |
Pension liability adjustment, tax expense/benefit | $ 110 | $ (14) | $ 102
Foreign Exchange Forward [Member] |  |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | (45) | 95 | $ (41)
Interest Rate Swap [Member] |  |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | $ (134) | $ 213 |

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