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Note 3 - Accumulated Other Comprehensive Loss - Changes in Each Component of Other Comprehensive Loss, Net of Tax (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Balance $ (13,532) $ (10,676)
Other comprehensive (loss) income before reclassifications 143 (3,267)
Amounts reclassified from AOCI 700 411
Other comprehensive income (loss) 843 (2,856)
Balance (12,689) (13,532)
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Balance (12,630) (9,755)
Other comprehensive (loss) income before reclassifications (543) (2,875)
Amounts reclassified from AOCI
Other comprehensive income (loss) (543) (2,875)
Balance (13,173) (12,630)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Balance (170) 37
Other comprehensive (loss) income before reclassifications (572) (343)
Amounts reclassified from AOCI 139 136
Other comprehensive income (loss) (433) (207)
Balance (603) (170)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Balance (732) (958)
Other comprehensive (loss) income before reclassifications 1,258 (49)
Amounts reclassified from AOCI 561 275
Other comprehensive income (loss) 1,819 226
Balance $ 1,087 $ (732)