Note 6 - Fair Value Measurements - Fair Value of Derivative Financial Instruments (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Total derivative assets	$ 4,446	$ 5,898
Total derivative liabilities	5	0
Interest Rate Swap [Member]
Total derivative assets	4,000	5,500
Other Current Assets [Member] | Foreign Exchange Forward [Member]
Designated as cash flow hedges	0	359
Not designated as hedging instruments	486	0
Other Noncurrent Assets [Member] | Interest Rate Swap [Member]
Designated as a cash flow hedge	3,960	5,539
Other Current Liabilities [Member] | Foreign Exchange Forward [Member]
Designated as a cash flow hedge	$ 5	$ 0