Condensed Consolidated Balance Sheets (Current Period Unaudited) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Current Assets:
Cash and cash equivalents	$ 81,129	$ 72,289
Accounts receivable, net of allowance for doubtful accounts of $1,060 and $1,171, respectively	69,736	76,092
Inventories	103,647	107,276
Unbilled receivables	19,383	16,318
Assets held for sale	4,170	0
Other current assets	6,644	11,206
Total current assets	284,709	283,181
Property, plant and equipment, net	35,101	41,943
Right-of-use assets	15,454	18,504
Intangible assets, net	67,068	72,364
Goodwill	22,873	21,993
Deferred income taxes	4,736	3,731
Other assets	28,011	27,201
Total assets	457,952	468,917
Current Liabilities:
Accounts payable	40,130	44,169
Accrued expenses	31,746	26,918
Current portion of long-term debt	3,794	5,489
Operating lease liabilities, current	6,676	7,377
Other current liabilities	7,388	6,265
Total current liabilities	89,734	90,218
Long-term Liabilities:
Long-term debt	121,616	138,215
Operating lease liabilities, long-term	9,120	11,751
Liability for uncertain tax positions	25,340	26,901
Minimum pension obligation and unfunded pension liability	22,140	21,545
Deferred income taxes	852	1,726
Other liabilities	10,379	10,510
Total liabilities	279,181	300,866
Commitments and contingencies
Stockholders' Equity:
Preferred stock, no par value, 1,000,000 shares authorized; none issued	0	0
Additional paid-in capital	35,597	33,826
Retained earnings	163,786	157,063
Accumulated other comprehensive loss	(21,848)	(24,065)
Total stockholders' equity	178,771	168,051
Total liabilities and stockholders' equity	457,952	468,917
Common Class A [Member]
Stockholders' Equity:
Common stock	214	214
Common Class B [Member]
Stockholders' Equity:
Common stock	$ 1,022	$ 1,013