Note 10 - Derivative Instruments and Hedging Activities - Fair Value of Derivative Financial Instruments (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Total derivative assets	$ 5,643	$ 5,898
Total derivative liabilities	782	0
Interest Rate Swap [Member]
Total derivative assets	5,500
Other Current Assets [Member] | Foreign Exchange Forward [Member]
Designated as cash flow hedges	0	359
Non designated as hedging instruments	114	0
Other Noncurrent Assets [Member] | Interest Rate Swap [Member]
Designated as a cash flow hedge	5,529	5,539
Other Current Liabilities [Member] | Foreign Exchange Forward [Member]
Designated as a cash flow hedge	$ 782	$ 0