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Note 10 - Debt (Details Textual) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 12 Months Ended
Sep. 02, 2021
Feb. 18, 2020
Dec. 11, 2017
Jun. 19, 2014
Mar. 31, 2016
Dec. 31, 2017
Dec. 31, 2021
Dec. 31, 2020
Sep. 30, 2021
Long-term Debt, Total             $ 112,500    
Amortization of Debt Issuance Costs             1,302 $ 654  
Repayments of Long-term Debt, Total             104,846 8,179  
Interest Rate Swap [Member]                  
Derivative, Notional Amount             30,000    
The 2021 Swaps [Member]                  
Derivative, Notional Amount             60,000    
The 2021 Swaps One [Member]                  
Derivative, Notional Amount             $ 30,000    
Derivative, Fixed Interest Rate             1.3055%    
The 2021 Swaps Two [Member]                  
Derivative, Notional Amount             $ 30,000    
Derivative, Fixed Interest Rate             1.318%    
Credit and Security Agreement with KeyBank [Member]                  
Long-term Debt, Total             $ 115,000    
Debt Issuance Costs, Net, Total       $ 5,800       $ 1,300 $ 700
Line of Credit Facility, Interest Rate at Period End             1.60% 2.19%  
Effective LIBOR Rate             0.10% 0.19%  
Interest Expense, Debt, Total             $ 3,500 $ 4,700  
Write off of Deferred Debt Issuance Cost             $ 800    
Debt Instrument, Term (Year)     5 years 5 years          
Payments of Debt Issuance Costs     $ 1,800   $ 700        
Amortization of Debt Issuance Costs         $ 500 $ 1,000      
LIBOR Additional Rate 1.00%   1.00%            
Line of Credit Facility, Percentage of Capital Stock of Foreign Subsidiaries Collateralized Security 65.00%                
Credit and Security Agreement with KeyBank [Member] | Term Loan [Member]                  
Repayments of Long-term Debt, Total   $ 8,200              
Credit and Security Agreement with KeyBank [Member] | Minimum [Member]                  
Line of Credit Facility, Commitment Fee Percentage 0.20%                
Credit and Security Agreement with KeyBank [Member] | Maximum [Member]                  
Line of Credit Facility, Commitment Fee Percentage 0.30%                
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) [Member]                  
Debt Instrument, Basis Spread on Variable Rate     0.50%       1.50% 2.00%  
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) [Member] | Minimum [Member]                  
Debt Instrument, Basis Spread on Variable Rate 1.125%   1.375%            
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) [Member] | Maximum [Member]                  
Debt Instrument, Basis Spread on Variable Rate 2.125%   2.75%            
Credit and Security Agreement with KeyBank [Member] | LIBOR With Maturity of One Month [Member] | Minimum [Member]                  
Debt Instrument, Basis Spread on Variable Rate 0.125%   0.375%            
Credit and Security Agreement with KeyBank [Member] | LIBOR With Maturity of One Month [Member] | Maximum [Member]                  
Debt Instrument, Basis Spread on Variable Rate 1.125%   1.75%            
Credit and Security Agreement with KeyBank [Member] | Fed Funds Effective Rate Overnight Index Swap Rate [Member]                  
Debt Instrument, Basis Spread on Variable Rate 0.50%                
Revolving Credit Facility [Member]                  
Long-term Line of Credit, Total             $ 112,500 $ 12,000  
Revolving Credit Facility [Member] | Credit and Security Agreement with KeyBank [Member]                  
Long-term Line of Credit, Total             12,000    
Line of Credit Facility, Remaining Borrowing Capacity             62,500 63,000  
Line of Credit Facility, Maximum Borrowing Capacity $ 175,000   $ 75,000 $ 50,000     75,000    
Debt Instrument, Term (Year) 5 years                
Line of Credit Facility, Maximum Letters of Credit Capacity $ 10,000                
Line of Credit Facility, Maximum Swing Line Loan Capacity 5,000                
Debt Instrument, Additional Borrowing Capacity 100,000                
Debt Instrument, Maximum Principal Borrowing Capacity in Foreign Currencies $ 15,000                
Term Loan [Member]                  
Long-term Debt, Total             0 $ 104,800  
Term Loan [Member] | Credit and Security Agreement with KeyBank [Member]                  
Long-term Debt, Total             101,900    
Debt Instrument, Face Amount     $ 125,000 145,000     $ 125,000    
Delayed Draw Term Loan ("DDTL") [Member] | Credit and Security Agreement with KeyBank [Member]                  
Debt Instrument, Face Amount       $ 70,000