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Note 6 - Derivative Instruments and Hedging Activities (Details Textual) - Foreign Exchange Forward [Member]
$ in Thousands, $ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
CAD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2020
CAD ($)
Sep. 30, 2012
USD ($)
Foreign Currency Cash Flow Hedge Gain (Loss) to be Reclassified During Next 12 Months               $ 0
Designated as Hedging Instrument [Member]                
Derivative, Notional Amount $ 7,500   $ 7,500   $ 9.5 $ 15,300 $ 19.5  
Not Designated as Hedging Instrument [Member]                
Derivative Instruments Not Designated as Hedging Instruments, Gain (Loss), Net, Total $ 100 $ (200) $ 0 $ 0