Note 9 - Derivative Instruments and Hedging Activities - Derivative Financial Instruments Effects on Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Net (losses) gains recognized in AOCL	$ (769)	$ 2,963
Net losses reclassified from AOCL to the consolidated statement of operations	637	(109)
Foreign Exchange Forward [Member]
Net (losses) gains recognized in AOCL	(361)	154
Net losses reclassified from AOCL to the consolidated statement of operations	151	67
Interest Rate Swap [Member]
Net (losses) gains recognized in AOCL	(408)	2,809
Net losses reclassified from AOCL to the consolidated statement of operations	$ 486	$ (176)

Amount, after tax, of reclassification of gain (loss) from accumulated other comprehensive income (AOCI) for derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 11
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-11

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 15
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-15

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Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration