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Note 7 - Derivative Instruments and Hedging Activities - Effects of Derivative Instruments on Income and Other Comprehensive Income (OCI) (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Other comprehensive income (loss) | $ 441 | $ (1,993) | $ 1,863
Foreign Exchange Forward [Member] |  |  |
Other comprehensive income (loss) | (1,014) | (2,203) | 2,026
Interest Rate Swap [Member] |  |  |
Other comprehensive income (loss) | 1,430 | (210) | (163)
Operating Expense [Member] | Foreign Exchange Forward [Member] | Designated as Hedging Instrument [Member] | Cash Flow Hedging [Member] |  |  |
Amount of Gain or Reclassified from AOCI into Income | (691) | 2,652 | (188)
Cost of Sales [Member] | Foreign Exchange Forward [Member] | Designated as Hedging Instrument [Member] | Cash Flow Hedging [Member] |  |  |
Amount of Gain or Reclassified from AOCI into Income | (171) | 615 | (66)
Interest Expense, Net [Member] | Interest Rate Swap [Member] | Designated as Hedging Instrument [Member] | Cash Flow Hedging [Member] |  |  |
Amount of Gain or Reclassified from AOCI into Income | $ 69 | $ 115 | $ (17)

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- Definition The effective portion of net gain (loss) reclassified from accumulated other comprehensive income into income on derivative instruments designated and qualifying as hedging instruments. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4D -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5624177-113959 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 815 -SubTopic 10 -Section 50 -Paragraph 4C -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5624171-113959 + Details
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- Definition Amount, after tax and reclassification, of gain (loss) from derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness, attributable to parent. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 11 -URI https://asc.fasb.org/extlink&oid=126968391&loc=d3e637-108580 + Details
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