Note 6 - Fair Value Measurements (Details Textual) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Derivative Asset	$ 5,643	$ 5,898
Long-Term Debt, Fair Value	60,000	95,000
Long-Term Debt, Gross	60,000	95,000
Fair Value, Nonrecurring [Member]
Assets, Fair Value Disclosure, Total	0	0
Foreign Exchange Forward [Member]
Derivative Assets (Liabilities), at Fair Value, Net	(700)	400
Interest Rate Swap [Member]
Derivative Asset	5,500
Investments Held in Rabbi Trust [Member]
Debt Securities, Available-for-Sale	$ 400	$ 100