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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, 2022
Dec. 31, 2021
Balance $ 83,401 $ 76,681
Other comprehensive (loss) income (5,025) 3,039
Balance 72,220 83,401
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]    
Balance (13,826) (11,473)
Other comprehensive income (loss) before reclassifications (2,960) (2,353)
Amounts reclassified from AOCI 0 0
Other comprehensive (loss) income (2,960) (2,353)
Balance (16,786) (13,826)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]    
Balance 3,799 (1,593)
Other comprehensive income (loss) before reclassifications (2,085) 4,946
Amounts reclassified from AOCI 20 446
Other comprehensive (loss) income (2,065) 5,392
Balance 1,734 3,799
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]    
Balance (10,027) (13,066)
Other comprehensive income (loss) before reclassifications (5,046) 2,593
Amounts reclassified from AOCI 20 446
Other comprehensive (loss) income (5,025) 3,039
Balance $ (15,052) $ (10,027)