Note 10 - Derivatives and Hedging Activities - Net (Gains) Losses Reclassified from Accumulated Other Comprehensive Loss (Details) - Derivatives Designated as Cash Flow Hedging Instruments [Member] - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Gain (loss) reclassified from accumulated OCI into income, Effective portion, Net, Total	$ (307)	$ 354	$ (189)
Foreign Exchange Option Contracts [Member]
Gain (loss) reclassified from accumulated OCI into income, Effective portion, Net, Total	(27)	132	(90)
Foreign Exchange Forward Contracts [Member]
Gain (loss) reclassified from accumulated OCI into income, Effective portion, Net, Total	$ (280)	$ 222	$ (99)