Note 7 - Financial Instruments and Fair Value Measurements - Estimated Fair Values of Derivative Instruments (Details) - Fair Value, Inputs, Level 2 [Member] - USD ($) $ in Thousands		Dec. 31, 2021	Dec. 31, 2020
Designated as Hedging Instrument [Member]
Derivatives designated as hedging instruments		$ 9	$ 0
Derivatives designated as hedging instruments		0	2,008
Not Designated as Hedging Instrument [Member]
Derivatives designated as hedging instruments		664	953
Derivatives designated as hedging instruments		0	0
Foreign Exchange Contract [Member] | Designated as Hedging Instrument [Member]
Derivatives designated as hedging instruments	[1]	0	0
Derivatives designated as hedging instruments	[1]	0	2,008
Foreign Exchange Contract [Member] | Not Designated as Hedging Instrument [Member]
Derivatives designated as hedging instruments	[2]	664	953
Derivatives designated as hedging instruments	[2]	0	0
Interest Rate Cap [Member] | Designated as Hedging Instrument [Member]
Derivatives designated as hedging instruments		9	0
Derivatives designated as hedging instruments		$ 0	$ 0

[1] Recorded in accounts payable and accrued expenses.

[2] Recorded in prepaid expenses and other current assets.