Note 6 - Financial Instruments and Fair Value Measurements - Derivatives Recognized in Condensed Consolidation Financial Statements (Details) - USD ($) $ in Thousands		3 Months Ended		9 Months Ended
		Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Total		$ 66	$ (756)	$ (673)	$ 1,390
Designated as Hedging Instrument [Member] | Foreign Exchange Contract [Member]
Derivative instruments designated as cash flow hedging instruments:	[1]	(109)	(1,745)	(605)	2,261
Designated as Hedging Instrument [Member] | Interest Rate Cap [Member]
Derivative instruments designated as cash flow hedging instruments:	[2]	(93)	0	(256)	137
Not Designated as Hedging Instrument [Member] | Foreign Exchange Contract [Member]
Foreign exchange forward	[3]	$ 268	$ 989	$ 188	$ (1,008)

[1] For the three and nine months ended September 30, 2021, $0.9 million and $1.0 million, respectively, was recognized as a loss on foreign currency in the condensed consolidated statements of income, and $2.4 million and $1.8 million losses, respectively, were recognized, net of tax, as a component of other comprehensive income (loss) within stockholders' equity. For the three and nine months ended September 30, 2020, $5.3 million was recognized as a loss on foreign currency in the condensed consolidated statements of income, and a $1.7 million gain and a $7.6 million loss, respectively, was recognized, net of tax, as a component of other comprehensive income (loss) within stockholders' equity.

[2] Recognized, net of tax, as a component of other comprehensive income (loss) within stockholders' equity.

[3] Gains (losses) related to derivative instruments are expected to be largely offset by (losses) gains on the underlying exposures being hedged. During the three and nine months ended September 30, 2021, a gain of $0.3 million and $0.2 million, respectively, were recognized in gain (loss) on foreign currency. During the three and nine months ended September 30, 2020, a gain of $1.0 million and a loss of $1.0 million was recognized in gain (loss) on foreign currency.