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, 2023	Dec. 31, 2022	Dec. 31, 2021
Foreign exchange forward contracts	$ 988	$ 13
Changes in unrealized gains (losses)	16	(1,461)	$ 228
Foreign exchange option contracts		119
Cash Flow Hedging [Member]
Changes in unrealized gains (losses)	16	(1,461)	228
Derivative Asset, Total	988	13
Derivative Liability, Total	0	119
Cash Flow Hedging [Member] | Foreign Exchange Forward [Member]
Foreign exchange forward contracts	988	13
Changes in unrealized gains (losses)	281	(1,100)	228
Foreign exchange option contracts	0	96
Cash Flow Hedging [Member] | Foreign Exchange Option [Member]
Changes in unrealized gains (losses)	(265)	(361)	$ 0
Foreign exchange option contracts	$ 0	$ 23