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Note 7 - Derivative Instruments and Hedging Activities - Fair Value of Derivative Instruments in the Consolidated Balance Sheets (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Cash Flow Hedging [Member] | Interest Rate Swap [Member]    
Interest rate swap contract designated as a cash flow hedge (net) $ 390 $ (213)
Derivative Instruments [Member]    
Foreign currency forward contracts, asset 452 3,647
Derivative Instruments [Member] | Designated as Hedging Instrument [Member] | Cash Flow Hedging [Member]    
Foreign currency forward contracts, asset 62 3,254
Derivative Instruments [Member] | Not Designated as Hedging Instrument [Member]    
Foreign currency forward contracts, asset $ 0 $ 606