Note 13 - Derivatives and Hedging Activities - Effective Portion of the Gains and Losses on Derivative Instruments Designated (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Foreign exchange forward contracts	$ 239		$ 239		$ 13
Foreign exchange contracts					119
Derivatives designated as cash flow hedging instruments	(376)	$ (223)	(1,006)	$ (1,623)
Cash Flow Hedging [Member]
Derivative Asset, Total	0		0		13
Derivative Liability, Total	239		239		119
Derivatives designated as cash flow hedging instruments	(376)	(223)	(1,006)	(1,623)
Cash Flow Hedging [Member] | Foreign Exchange Forward [Member]
Foreign exchange forward contracts	0		0		13
Foreign exchange contracts	141		141		96
Derivatives designated as cash flow hedging instruments	(246)	(68)	(678)	(1,067)
Cash Flow Hedging [Member] | Foreign Exchange Option [Member]
Foreign exchange contracts	98		98		$ 23
Derivatives designated as cash flow hedging instruments	$ (130)	$ (155)	$ (328)	$ (556)