Note 10 - Derivative Instruments and Hedging Activities (Details Textual) - USD ($) $ in Millions	Sep. 30, 2023	Jan. 31, 2023	Dec. 31, 2022
Foreign Exchange Forward [Member]
Derivative, Notional Amount	$ 25.9		$ 25.7
The 2021 Swaps One [Member]
Derivative, Notional Amount			$ 30.0
Derivative, Fixed Interest Rate		1.334%	1.3055%
The 2021 Swaps Two [Member]
Derivative, Notional Amount			$ 30.0
Derivative, Fixed Interest Rate		1.348%	1.318%
The 2021 Swaps [Member]
Derivative, Notional Amount			$ 60.0
The 2021 Swaps [Member] | Secured Overnight Financing Rate (SOFR) [Member]
Derivative, Basis Spread on Variable Rate		0.10%