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Note 5 - Fair Value Measurements (Details Textual) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Long-term Debt, Fair Value $ 114,500 $ 118,400
Long-term Debt, Gross 112,900 115,600
Fair Value, Nonrecurring [Member]    
Assets, Fair Value Disclosure 0 0
Foreign Exchange Forward [Member] | Maximum [Member]    
Derivative Asset, Total 100  
Investments Held in Rabbi Trust [Member]    
Debt Securities, Available-for-sale, Total $ 500 $ 700