Note 9 - Derivative Instruments and Hedging Activities - Fair Value of Derivative Financial Instruments (Details) - USD ($) $ in Thousands	Mar. 31, 2022	Dec. 31, 2021
Total derivative assets	$ 2,978	$ 57
Total derivative liabilities	0	135
Interest Rate Swap [Member]
Total derivative assets	2,900	100
Other Current Assets [Member] | Foreign Exchange Forward [Member]
Designated as cash flow hedges	67	57
Not designated as hedging instruments	43	0
Designated as a cash flow hedge	43	0
Other Noncurrent Assets [Member] | Interest Rate Swap [Member]
Not designated as hedging instruments	2,868
Designated as a cash flow hedge	2,868
Other Current Liabilities [Member] | Foreign Exchange Forward [Member]
Not designated as hedging instruments	0	19
Designated as a cash flow hedge	0	19
Other Noncurrent Liabilities [Member] | Interest Rate Swap [Member]
Not designated as hedging instruments	0	116
Designated as a cash flow hedge	$ 0	$ 116