Note 6 - Financial Instruments and Fair Value Measurements - Estimated Fair Values of Derivative Instruments (Details) - Fair Value, Inputs, Level 2 [Member] - Not Designated as Hedging Instrument [Member] - USD ($) $ in Thousands		Mar. 31, 2023	Dec. 31, 2022
Derivatives designated as hedging instruments		$ 316	$ 683
Derivatives designated as hedging instruments		434	572
Interest Rate Cap [Member]
Derivatives designated as hedging instruments	[1]	316	683
Derivatives designated as hedging instruments	[1]	0	0
Foreign Exchange Contract [Member]
Derivatives designated as hedging instruments	[2]		0
Derivatives designated as hedging instruments	[2]	$ 434	$ 572

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

[2] Recorded in accounts payable and accrued expenses.