Note 10 - Derivative Instruments and Hedging Activities - Derivative Financial Instruments Effects on Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023
Net (losses) gains recognized in AOCL	$ 844	$ (769)
Net losses reclassified from AOCL to the consolidated statement of operations	347	637
Foreign Exchange Forward [Member]
Net (losses) gains recognized in AOCL	(111)	(361)
Net losses reclassified from AOCL to the consolidated statement of operations	(268)	151
Interest Rate Swap [Member]
Net (losses) gains recognized in AOCL	955	(408)
Net losses reclassified from AOCL to the consolidated statement of operations	$ 615	$ 486

Amount, after tax, of reclassification of gain (loss) from accumulated other comprehensive income (AOCI) for derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 11
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147482790/220-10-45-11

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 15
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147482790/220-10-45-15

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Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration