Note 9 - Derivative Instruments and Hedging Activities - Fair Value of Derivative Financial Instruments (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Total derivative assets	$ 4,974	$ 5,898
Foreign Exchange Forward [Member]
Total derivative assets	300	400
Interest Rate Swap [Member]
Total derivative assets	4,600	5,500
Other Current Assets [Member] | Foreign Exchange Forward [Member]
Designated as cash flow hedges	329	359
Other Noncurrent Assets [Member] | Interest Rate Swap [Member]
Designated as a cash flow hedge	$ 4,645	$ 5,539