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, 2022	Dec. 31, 2021	Dec. 31, 2020
Foreign exchange forward contracts	$ 13	$ 63
Foreign exchange contracts	119
Changes in unrealized gains (losses)	(1,461)	228	$ 632
Cash Flow Hedging [Member]
Derivative Asset, Total	13	63
Derivative Liability, Total	119	0
Changes in unrealized gains (losses)	(1,461)	228	632
Cash Flow Hedging [Member] | Foreign Exchange Forward [Member]
Foreign exchange forward contracts	13	63
Foreign exchange contracts	96	0
Changes in unrealized gains (losses)	(1,100)	228	640
Cash Flow Hedging [Member] | Foreign Exchange Option [Member]
Foreign exchange contracts	23	0
Changes in unrealized gains (losses)	$ (361)	$ 0	$ (8)