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Note 7 - Derivative Instruments and Hedging Activities - Fair Value Adjustments of Forward Currency Forward Contracts Not Designated as Hedges (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Gain (loss) on settlement	$ (0)	$ 277	$ 383
Gain (Loss) on Derivative Instruments, Net, Pretax, Total	496	0	0
Foreign Exchange Forward [Member] | Not Designated as Hedging Instrument [Member]
Gain (loss) on settlement	0	883	(117)
Gain (loss) on change in fair value	0	(606)	500
Gain (Loss) on Derivative Instruments, Net, Pretax, Total	0	277	383
Interest Rate Swap [Member] | Not Designated as Hedging Instrument [Member]
Gain (loss) on settlement	777	0	0
Gain (loss) on change in fair value	$ (281)	$ 0	$ 0

X

- Definition

Amount of increase (decrease) in the fair value of derivatives recognized in the income statement.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
-Paragraph 4A
-Subparagraph (b)(1)
-URI https://asc.fasb.org/extlink&oid=125515794&loc=SL5618551-113959

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- Definition

Aggregate net gain (loss) on all derivative instruments recognized in earnings during the period, before tax effects.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 815
-SubTopic 10
-Section 50
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- Definition

The difference between the book value and the sale price of options, swaps, futures, forward contracts, and other derivative instruments. This element refers to the gain (loss) included in earnings.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
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-Section S99
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-URI https://asc.fasb.org/extlink&oid=120399700&loc=SL114874048-224260

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