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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, 2021
Dec. 31, 2020
Balance $ 76,681 $ 81,694
Other comprehensive income (loss) 3,039 (377)
Balance 83,401 76,681
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Balance (11,473) (13,173)
Other comprehensive income (loss) before reclassifications (2,353) 1,700
Amounts reclassified from AOCI 0 0
Other comprehensive income (loss) (2,353) 1,700
Balance (13,826) (11,473)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Balance 0 (603)
Other comprehensive income (loss) before reclassifications 0 (206)
Amounts reclassified from AOCI 0 809
Other comprehensive income (loss) 0 603
Balance 0 0
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Balance (1,593) 1,087
Other comprehensive income (loss) before reclassifications 4,946 (2,785)
Amounts reclassified from AOCI 446 105
Other comprehensive income (loss) 5,392 (2,680)
Balance 3,799 (1,593)
AOCI Attributable to Parent [Member]    
Balance (13,066) (12,689)
Other comprehensive income (loss) before reclassifications 2,593 (1,291)
Amounts reclassified from AOCI 446 914
Other comprehensive income (loss) 3,039 (377)
Balance $ (10,027) $ (13,066)