Note 6 - Fair Value Measurements - Fair Value of Derivative Financial Instruments (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Total derivative assets	$ 4,730	$ 4,446
Total derivative liabilities	196	5
Interest Rate Swap [Member]
Total derivative assets	4,300	4,000
Other Current Assets [Member] | Foreign Exchange Forward [Member]
Designated as cash flow hedges	0	0
Non designated as hedging instruments	430	486
Other Noncurrent Assets [Member] | Interest Rate Swap [Member]
Designated as a cash flow hedge	4,300	3,960
Other Current Liabilities [Member] | Foreign Exchange Forward [Member]
Designated as a cash flow hedge	$ 196	$ 5