Note 5 - Derivative Instruments and Hedging Activities - Fair Value of Derivative Instruments in the Consolidated Balance Sheets (Details) - USD ($) $ in Thousands	Mar. 31, 2020	Dec. 31, 2019
Foreign currency forward contracts, liability	$ (1,176)
Derivative Instruments [Member]
Foreign currency forward contracts, liability	(1,176)
Foreign currency forward contracts, asset		$ 731
Derivative Instruments [Member] | Designated as Hedging Instrument [Member] | Cash Flow Hedging [Member]
Foreign currency forward contracts, liability	(932)
Foreign currency forward contracts, asset		626
Derivative Instruments [Member] | Not Designated as Hedging Instrument [Member]
Foreign currency forward contracts, liability	$ (244)
Foreign currency forward contracts, asset		$ 105