Note 2 - Fair Value of Financial Instruments - Summary of Derivative Financial Instruments (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Foreign currency forward contracts	$ 271	$ 1,493
Foreign currency forward contracts	2,529	4,679
Designated as Hedging Instrument [Member]
Foreign currency forward contracts	248	1,041
Foreign currency forward contracts	2,136	2,634
Not Designated as Hedging Instrument [Member]
Foreign currency forward contracts	23	452
Foreign currency forward contracts	$ 393	$ 2,045