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Note 9 - Debt (Details Textual) - Credit and Security Agreement with KeyBank [Member] - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 02, 2021
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Long-term Debt, Total   $ 115.0   $ 115.0    
Debt Issuance Costs, Net, Total   $ 0.7   $ 0.7   $ 1.3
Line of Credit Facility, Percentage of Capital Stock of Foreign Subsidiaries Collateralized Security 65.00%          
LIBOR Additional Rate 1.00%          
Debt, Weighted Average Interest Rate   1.58%   1.58%   2.19%
Interest Expense, Debt, Total   $ 1.5 $ 1.2 $ 3.0 $ 3.8  
Write off of Deferred Debt Issuance Cost   0.8        
Fed Funds Effective Rate Overnight Index Swap Rate [Member]            
Debt Instrument, Basis Spread on Variable Rate 0.50%          
Minimum [Member]            
Line of Credit Facility, Commitment Fee Percentage 0.20%          
Minimum [Member] | London Interbank Offered Rate (LIBOR) [Member]            
Debt Instrument, Basis Spread on Variable Rate 1.125%          
Minimum [Member] | LIBOR With Maturity of One Month [Member]            
Debt Instrument, Basis Spread on Variable Rate 0.125%          
Maximum [Member]            
Line of Credit Facility, Commitment Fee Percentage 0.30%          
Maximum [Member] | London Interbank Offered Rate (LIBOR) [Member]            
Debt Instrument, Basis Spread on Variable Rate 2.125%          
Maximum [Member] | LIBOR With Maturity of One Month [Member]            
Debt Instrument, Basis Spread on Variable Rate 1.125%          
Revolving Credit Facility [Member]            
Line of Credit Facility, Maximum Borrowing Capacity $ 175.0         $ 75.0
Long-term Line of Credit, Total   12.0   12.0   12.0
Debt Instrument, Term (Year) 5 years          
Line of Credit Facility, Maximum Letters of Credit Capacity $ 10.0          
Line of Credit Facility, Maximum Swing Line Loan Capacity 5.0          
Debt Instrument, Additional Borrowing Capacity 100.0          
Debt Instrument, Maximum Principal Borrowing Capacity in Foreign Currencies $ 15.0          
Term Loan [Member]            
Long-term Debt, Total   $ 101.9   $ 101.9   104.8
Debt Instrument, Face Amount           $ 125.0