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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
 3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Balance $ 81,694 $ 82,724
Other comprehensive (loss) (1,720) (175)
Balance 76,009 80,349
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Balance (13,173)  
Other comprehensive (loss) income before reclassifications (1,576)  
Amounts reclassified from AOCI into Income  
Other comprehensive (loss) (1,576)  
Balance (14,749)  
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Balance (603)  
Other comprehensive (loss) income before reclassifications (216)  
Amounts reclassified from AOCI into Income 72  
Other comprehensive (loss) (144)  
Balance (747)  
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Balance 1,087  
Other comprehensive (loss) income before reclassifications  
Amounts reclassified from AOCI into Income  
Other comprehensive (loss)  
Balance 1,087  
AOCI Attributable to Parent [Member]    
Balance (12,689) (13,532)
Other comprehensive (loss) income before reclassifications (1,792)  
Amounts reclassified from AOCI into Income 72  
Other comprehensive (loss) (1,720) (175)
Balance $ (14,409) $ (13,707)