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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, 2020
Dec. 31, 2019
Balance $ 81,694 $ 82,724
Other comprehensive (loss) income (377) 843
Balance 76,681 81,694
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Balance (13,173) (12,630)
Other comprehensive income (loss) before reclassifications 1,700 (543)
Amounts reclassified from AOCI 0 0
Other comprehensive (loss) income 1,700 (543)
Balance (11,473) (13,173)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Balance (603) (170)
Other comprehensive income (loss) before reclassifications (206) (572)
Amounts reclassified from AOCI 809 139
Other comprehensive (loss) income 603 (433)
Balance 0 (603)
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Balance 1,087 (732)
Other comprehensive income (loss) before reclassifications (2,785) 1,258
Amounts reclassified from AOCI 105 561
Other comprehensive (loss) income (2,680) 1,819
Balance (1,593) 1,087
AOCI Attributable to Parent [Member]    
Balance (12,689) (13,532)
Other comprehensive income (loss) before reclassifications (1,291) 143
Amounts reclassified from AOCI 914 700
Other comprehensive (loss) income (377) 843
Balance $ (13,066) $ (12,689)