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Condensed Consolidated Statements of Stockholders' Equity (Unaudited) (Parentheticals) - USD ($) $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Pension Plan [Member] |  |
Pension liability adjustment, tax expense/benefit | $ 0 | $ 0
Foreign Exchange Forward [Member] |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | 11 | 5
Interest Rate Swap [Member] |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | $ 8 |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit |  | $ 58

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