Note 10 - Derivative Instruments and Hedging Activities - Derivative Financial Instruments Effects on Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Net (losses) gains recognized in AOCL	$ 313	$ 1,535	$ (196)	$ 4,743
Net losses reclassified from AOCL to the consolidated statement of operations	291	(172)	1,453	(503)
Foreign Exchange Forward [Member]
Net (losses) gains recognized in AOCL	(385)	(671)	(1,837)	(1,196)
Net losses reclassified from AOCL to the consolidated statement of operations	(311)	(308)	(197)	(381)
Interest Rate Swap [Member]
Net (losses) gains recognized in AOCL	698	2,206	1,641	5,939
Net losses reclassified from AOCL to the consolidated statement of operations	$ 602	$ 136	$ 1,650	$ (122)