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Note 10 - Accumulated Other Comprehensive Loss - Components of Accumulated Other Comprehensive Loss (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Balance $ 351,183 $ 328,601 $ 340,360 $ 318,274
Other comprehensive loss, net of tax (238) (27) (196) (162)
Balance 362,360 335,138 362,360 335,138
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Balance     (1,193) (1,532)
Other comprehensive income (loss) before reclassifications     57 78
Amounts reclassified from Accumulated other comprehensive loss     10 10
Other comprehensive loss, net of tax     67 88
Balance (1,126) (1,444) (1,126) (1,444)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Foreign Exchange Forward [Member]        
Balance     (13) 94
Other comprehensive income (loss) before reclassifications     11 (115)
Amounts reclassified from Accumulated other comprehensive loss     2 17
Other comprehensive loss, net of tax     13 (98)
Balance 0 (4) 0 (4)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member] | Interest Rate Swap [Member]        
Balance     246 649
Other comprehensive income (loss) before reclassifications     (60) 266
Amounts reclassified from Accumulated other comprehensive loss     (216) (418)
Other comprehensive loss, net of tax     (276) (152)
Balance (30) 497 (30) 497
AOCI Attributable to Parent [Member]        
Balance (918) (924) (960) (789)
Other comprehensive income (loss) before reclassifications     8 229
Amounts reclassified from Accumulated other comprehensive loss     (204) (391)
Other comprehensive loss, net of tax     (196) (162)
Balance $ (1,156) $ (951) $ (1,156) $ (951)