Note 6 - Fair Value Measurements (Tables)

12 Months Ended

Dec. 31, 2023

Notes Tables

Fair Value, Assets Measured on Recurring and Nonrecurring Basis [Table Text Block]

	December 31, 2023
	Carrying value		Fair value		Cash and cash equivalents		Other Current Assets
Cash	$	57,544	$	57,544	$	57,544	$	-
Level 1:
Money market funds		31,188		31,188		31,188		-
Money market funds (Rabbi Trust)		303		303		-		303
Subtotal		31,491		31,491		31,188		303
Level 2:
Certificates of deposit and time deposits		3,629		3,926		639		2,990
Subtotal		3,629		3,926		639		2,990
Total	$	92,664	$	92,961	$	89,371	$	3,293

	December 31, 2022
	Carrying value		Fair value		Cash and cash equivalents		Other Current Assets
Cash	$	70,266	$	70,266	$	70,266	$	-
Level 1:
Money market funds (Rabbi Trust)		101		101		-		101
Subtotal		101		101		-		101
Total	$	70,367	$	70,367	$	70,266	$	101

Schedule of Derivative Instruments in Statement of Financial Position, Fair Value [Table Text Block]

	Balance Sheet Classification	December 31, 2023		December 31, 2022
Derivative assets:
Foreign currency forward contracts:
Designated as cash flow hedges	Other current assets	$	-	$	359
Not designated as hedging instruments	Other current assets		486		-
Interest rate swap agreements:
Designated as a cash flow hedge	Other assets		3,960		5,539
Total derivative assets		$	4,446	$	5,898
Derivative liabilities:
Foreign currency forward contracts:
Designated as cash flow hedges	Other current liabilities	$	5	$	-
Total derivative liabilities		$	5	$	-