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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 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Balance $ 76,068 $ 80,330 $ 81,694 $ 82,724
Other comprehensive (loss) income 1,730 (1,536) 715 (2,185)
Balance 77,167 77,103 77,167 77,103
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]        
Balance     (13,173)  
Other comprehensive income (loss) before reclassifications     681  
Amounts reclassified from AOCI into income     0  
Other comprehensive (loss) income     681  
Balance (12,492)   (12,492)  
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]        
Balance     (603)  
Other comprehensive income (loss) before reclassifications     (228)  
Amounts reclassified from AOCI into income     262  
Other comprehensive (loss) income     34  
Balance (569)   (569)  
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]        
Balance     1,087  
Other comprehensive income (loss) before reclassifications     0  
Amounts reclassified from AOCI into income     0  
Other comprehensive (loss) income     0  
Balance 1,087   1,087  
AOCI Attributable to Parent [Member]        
Balance (13,704) (14,181) (12,689) (13,532)
Other comprehensive income (loss) before reclassifications     453  
Amounts reclassified from AOCI into income     262  
Other comprehensive (loss) income 1,730 (1,536) 715 (2,185)
Balance $ (11,974) $ (15,717) $ (11,974) $ (15,717)