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Note 10 - Debt (Details Textual) - USD ($)
$ in Millions
12 Months Ended
Sep. 02, 2021
Dec. 11, 2017
Dec. 31, 2022
Dec. 31, 2021
Long-term Debt, Total     $ 95.0  
Interest Rate Swap [Member]        
Derivative, Notional Amount       $ 30.0
The 2021 Swaps [Member]        
Derivative, Notional Amount       $ 60.0
The 2021 Swaps One [Member]        
Derivative, Notional Amount     $ 30.0  
Derivative, Fixed Interest Rate     1.3055% 1.3055%
The 2021 Swaps Two [Member]        
Derivative, Notional Amount     $ 30.0  
Derivative, Fixed Interest Rate     1.318% 1.318%
Credit and Security Agreement with KeyBank [Member]        
Interest Expense, Debt, Total     $ 3.4 $ 3.5
Write off of Deferred Debt Issuance Cost       $ 0.8
Line of Credit Facility, Interest Rate at Period End     5.51% 1.60%
Effective LIBOR Rate     4.38% 0.10%
Debt Instrument, Interest Rate During Period     3.57% 1.60%
LIBOR Additional Rate 1.00% 1.00%    
Long-term Debt, Total       $ 115.0
Line of Credit Facility, Percentage of Capital Stock of Foreign Subsidiaries Collateralized Security 65.00%      
Debt Issuance Costs, Net, Total       0.7
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] | Term Loan [Member]        
Debt Instrument, Face Amount   $ 125.0   125.0
Long-term Debt, Total       $ 101.9
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) [Member]        
Debt Instrument, Basis Spread on Variable Rate   0.50% 1.125% 1.50%
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     $ 95.0 $ 112.5
Revolving Credit Facility [Member] | Credit and Security Agreement with KeyBank [Member]        
Long-Term Line of Credit, Total       12.0
Line of Credit Facility, Remaining Borrowing Capacity     $ 80.0 62.5
Line of Credit Facility, Maximum Borrowing Capacity $ 175.0 $ 75.0   $ 75.0
Debt Instrument, Term (Year) 5 years      
Line of Credit Facility, Maximum Letters of Credit Capacity $ 10.0      
Line of Credit Facility, Maximum Swing Line Loan Capacity 5.0      
Debt Instrument, Additional Borrowing Capacity 100.0      
Debt Instrument, Maximum Principal Borrowing Capacity in Foreign Currencies $ 15.0