Note 4 - Fair Value of Financial Instruments - Financial Assets and Liabilities at Fair Value (Details) - USD ($)		Mar. 31, 2023		Dec. 31, 2022
Reported Value Measurement [Member]
Cash equivalents (including restricted cash accounts)		$ 40,401,000		$ 34,832,000
Marketable securities (3)		138,000	[1]	136,000
Fair Value, Net Asset (Liability)		26,644,000		34,420,000
Reported Value Measurement [Member] | Cross Currency Interest Rate Contract [Member]
Derivative Asset, noncurrent		9,000	[2]	(2,777,000)	[1]
Derivative Liability, Current	[2]	(4,043,000)
Derivatives, noncurrent	[2]	(8,067)
Derivative Assets, current	[1]			3,029,000
Reported Value Measurement [Member] | Currency Forward Contracts [Member]
Derivative Liability, Current	[3]	(1,793,000)
Derivative Assets, current	[2]			(800,000)
Estimate of Fair Value Measurement [Member]
Cash equivalents (including restricted cash accounts)		40,401,000		34,832,000
Marketable securities (3)		138,000	[1]	136,000
Fair Value, Net Asset (Liability)		26,644,000		34,420,000
Estimate of Fair Value Measurement [Member] | Cross Currency Interest Rate Contract [Member]
Derivative Asset, noncurrent		9,000	[2]	(2,777,000)	[1]
Derivative Liability, Current	[2]	(4,043,000)
Derivatives, noncurrent	[2]	(8,067)
Derivative Assets, current	[1]			3,029,000
Estimate of Fair Value Measurement [Member] | Currency Forward Contracts [Member]
Derivative Liability, Current	[3]	(1,793,000)
Derivative Assets, current	[2]			(800,000)
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 1 [Member]
Cash equivalents (including restricted cash accounts)		40,401,000		34,832,000
Marketable securities (3)		138,000	[1]	136,000
Fair Value, Net Asset (Liability)		40,539,000		34,968,000
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 1 [Member] | Cross Currency Interest Rate Contract [Member]
Derivative Asset, noncurrent		0	[2]	0	[1]
Derivative Liability, Current	[2]	0
Derivatives, noncurrent	[2]	0
Derivative Assets, current	[1]			0
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 1 [Member] | Currency Forward Contracts [Member]
Derivative Liability, Current	[3]	0
Derivative Assets, current	[2]			0
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 2 [Member]
Cash equivalents (including restricted cash accounts)		0		0
Marketable securities (3)		0	[1]	0
Fair Value, Net Asset (Liability)		(13,894,000)		(548,000)
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 2 [Member] | Cross Currency Interest Rate Contract [Member]
Derivative Asset, noncurrent		9,000	[2]	(2,777,000)	[1]
Derivative Liability, Current	[2]	(4,043,000)
Derivatives, noncurrent	[2]	(8,067)
Derivative Assets, current	[1]			3,029,000
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 2 [Member] | Currency Forward Contracts [Member]
Derivative Liability, Current	[3]	(1,793,000)
Derivative Assets, current	[2]			(800,000)
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 3 [Member]
Cash equivalents (including restricted cash accounts)		0		0
Marketable securities (3)		0	[1]	0
Fair Value, Net Asset (Liability)		0		0
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 3 [Member] | Cross Currency Interest Rate Contract [Member]
Derivative Asset, noncurrent		0	[2]	0	[1]
Derivative Liability, Current	[2]	0
Derivatives, noncurrent	[2]	0
Derivative Assets, current	[1]			0
Estimate of Fair Value Measurement [Member] | Fair Value, Inputs, Level 3 [Member] | Currency Forward Contracts [Member]
Derivative Liability, Current	[3]	$ 0
Derivative Assets, current	[2]			$ 0

[1] Presented under “Cash and cash equivalents” in the condensed consolidated balance sheets.

[2] These amounts relate to cross currency swap contracts valued primarily based on the present value of the cross currency swap future settlement prices for U.S. Dollar (“USD”) and New Israeli Shekel (“NIS”) zero yield curves and the applicable exchange rate as of March 31, 2023 and December 31, 2022, as applicable. These amounts are included within “Prepaid expenses and other”, “Deposits and other”, "Accounts payable and accrued expenses", or “Other longterm liabilities”, as applicable, in the condensed consolidated balance sheets on March 31, 2023 and December 31, 2022. There are no cash collateral deposits on March 31, 2023 and December 31, 2022.

[3] These amounts relate to currency forward contracts valued primarily based on observable inputs, including forward and spot prices for currencies, net of contracted rates and then multiplied by notional amounts, and are included within “Receivables, other” or “Accounts payable and accrued expenses”, as applicable, in the condensed consolidated balance sheets on March 31, 2023 and December 31, 2022, with the corresponding gain or loss being recognized within “Derivatives and foreign currency transaction gains (losses)” in the condensed consolidated statements of operations and comprehensive income.