Note 7 - Derivative Instruments and Hedging Activities - Fair Value of Derivative Instruments in the Consolidated Balance Sheets (Details) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Foreign currency forward contracts, asset	$ 731
Derivative Instruments [Member]
Foreign currency forward contracts, asset	731
Foreign currency forward contracts, liability		$ (1,276)
Derivative Instruments [Member] | Designated as Hedging Instrument [Member] | Cash Flow Hedging [Member]
Foreign currency forward contracts, asset	626
Foreign currency forward contracts, liability		(1,069)
Derivative Instruments [Member] | Not Designated as Hedging Instrument [Member]
Foreign currency forward contracts, asset	$ 105
Foreign currency forward contracts, liability		$ (207)