Note 12 - Derivative Instruments and Hedging Activities - Fair Value of Derivative Financial Instruments (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Total derivative assets	$ 5,898	$ 57
Total derivative liabilities	0	135
Foreign Exchange Forward [Member]
Total derivative assets	400
Interest Rate Swap [Member]
Total derivative assets	5,500	100
Other Current Assets [Member] | Foreign Exchange Forward [Member]
Designated as cash flow hedges	359	57
Other Noncurrent Assets [Member] | Interest Rate Swap [Member]
Designated as a cash flow hedge	5,539	0
Other Current Liabilities [Member] | Foreign Exchange Forward [Member]
Not designated as hedging instruments	0	19
Other Noncurrent Liabilities [Member] | Interest Rate Swap [Member]
Designated as a cash flow hedge	$ 0	$ 116