Note 6 - Fair Value Measurements (Details Textual) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Derivative Asset	$ 4,446	$ 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	500	400
Interest Rate Swap [Member]
Derivative Asset	4,000	5,500
Investments Held in Rabbi Trust [Member]
Debt Securities, Available-for-Sale	$ 300	$ 100