Note 10 - Debt and Credit Agreements - Future Annual Principal Payments on Outstanding Debt Obligations (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
2024	$ 5,903
2025	1,756
2026	1,267
2027	1,279
2028	1,198
2029 and thereafter	750
Total	$ 12,153	$ 8,311

Amount, after deduction of unamortized premium (discount) and debt issuance cost, of long-term debt. Excludes lease obligation.

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