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, 2022	Dec. 31, 2021	Dec. 31, 2020
Gain (loss) reclassified from accumulated OCI into income, Effective portion, Net, Total	$ 1,292	$ (165)	$ (688)
Foreign Exchange Option Contracts [Member]
Gain (loss) reclassified from accumulated OCI into income, Effective portion, Net, Total	338	0	(6)
Foreign Exchange Forward Contracts [Member]
Gain (loss) reclassified from accumulated OCI into income, Effective portion, Net, Total	$ 954	$ (165)	$ (682)