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Condensed Consolidated Statements of Stockholders' Equity (Unaudited) (Parentheticals) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Pension Plan [Member] |  |  |  |
Pension liability adjustment, tax expense/benefit | $ 0 | $ 0 | $ 0 | $ 0
Foreign Exchange Forward [Member] |  |  |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | 1 | (40) | 12 | (35)
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | (1) | 40 | (12) | 35
Interest Rate Swap [Member] |  |  |  |
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | (13) | 24 | (5) | (34)
Unrealized gain (loss) on cash flow hedges, tax expense/benefit | $ 13 | $ (24) | $ 5 | $ 34

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