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Note 10 - Accumulated Other Comprehensive Loss - Components of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Balance $ 340,360 $ 318,274
Net current period other comprehensive income 55 (127)
Balance 342,614 321,077
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Balance (1,193) (1,532)
Other comprehensive income before reclassifications 18 26
Amounts reclassified from Accumulated other comprehensive loss 3 3
Net current period other comprehensive income 21 29
Balance (1,172) (1,503)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Foreign Exchange Forward [Member]    
Balance (13) 94
Other comprehensive income before reclassifications 8 (10)
Amounts reclassified from Accumulated other comprehensive loss 2 32
Net current period other comprehensive income 10 22
Balance (3) 116
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Interest Rate Swap [Member]    
Balance 246 649
Other comprehensive income before reclassifications 115 (59)
Amounts reclassified from Accumulated other comprehensive loss (91) (119)
Net current period other comprehensive income 24 (178)
Balance 270 471
AOCI Attributable to Parent [Member]    
Balance (960) (789)
Other comprehensive income before reclassifications 141 (43)
Amounts reclassified from Accumulated other comprehensive loss (86) (84)
Net current period other comprehensive income 55 (127)
Balance $ (905) $ (916)