Note 10 - Derivatives and Hedging Activities - Effective Portion of the Gains and Losses on Derivative Instruments Designated (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Gain (loss) recognized in other comprehensive income (loss), Effective portion, Net, Total	$ 632	$ 440	$ (431)
Derivatives Designated as Cash Flow Hedging Instruments [Member]
Gain (loss) recognized in other comprehensive income (loss), Effective portion, Net, Total	632	440	(431)
Derivatives Designated as Cash Flow Hedging Instruments [Member] | Foreign Exchange Option Contracts [Member]
Gain (loss) recognized in other comprehensive income (loss), Effective portion, Net, Total	(8)	55	(146)
Derivatives Designated as Cash Flow Hedging Instruments [Member] | Foreign Exchange Forward Contracts [Member]
Gain (loss) recognized in other comprehensive income (loss), Effective portion, Net, Total	$ 640	$ 385	$ (285)