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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 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Balance $ 76,009 $ 80,349 $ 81,694 $ 82,724
Other comprehensive (loss) income 705 (474) (1,015) (649)
Balance 76,068 80,330 76,068 80,330
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]        
Balance     (13,173)  
Other comprehensive (loss) income before reclassifications     (957)  
Amounts reclassified from AOCI into Income     0  
Other comprehensive (loss) income     (957)  
Balance (14,130)   (14,130)  
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]        
Balance     (603)  
Other comprehensive (loss) income before reclassifications     (227)  
Amounts reclassified from AOCI into Income     169  
Other comprehensive (loss) income     (58)  
Balance (661)   (661)  
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Balance     1,087  
Other comprehensive (loss) income     0  
Balance 1,087   1,087  
AOCI Attributable to Parent [Member]        
Balance (14,409) (13,707) (12,689) (13,532)
Other comprehensive (loss) income before reclassifications     (1,184)  
Amounts reclassified from AOCI into Income     169  
Other comprehensive (loss) income 705 (474) (1,015) (649)
Balance $ (13,704) $ (14,181) $ (13,704) $ (14,181)