Note 5 - Derivative Instruments and Hedging Activities - Effects of Derivative Instruments on Income and Other Comprehensive Income (OCI) (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Amount of Gain or (Loss) Recognized in OCI, net of tax, on Derivative	$ (1,385)		$ (2,624)
Foreign Exchange Forward [Member]
Amount of Gain or (Loss) Recognized in OCI, net of tax, on Derivative	(466)	$ 762	42	$ 1,039
Interest Rate Swap [Member]
Amount of Gain or (Loss) Recognized in OCI, net of tax, on Derivative	(35)	13	73	(141)
Cash Flow Hedging [Member] | Designated as Hedging Instrument [Member] | Foreign Exchange Forward [Member] | Operating Expense [Member]
Amount of Gain or Reclassified from AOCI into Income	967	(43)	3,004	(290)
Cash Flow Hedging [Member] | Designated as Hedging Instrument [Member] | Foreign Exchange Forward [Member] | Cost of Sales [Member]
Amount of Gain or Reclassified from AOCI into Income	219	(12)	643	(82)
Cash Flow Hedging [Member] | Designated as Hedging Instrument [Member] | Interest Rate Swap [Member] | Interest Expense, Net [Member]
Amount of Gain or Reclassified from AOCI into Income	$ (36)	$ (4)	$ (81)	$ (4)