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Note 11 - Debt (Details Textual) - USD ($)
$ in Thousands
12 Months Ended
Sep. 02, 2021
Dec. 31, 2023
Dec. 31, 2022
Jan. 31, 2023
Jan. 01, 2023
Interest Rate Swap [Member]          
Derivative, Notional Amount   $ 30,000      
The 2021 Swaps [Member]          
Derivative, Notional Amount   $ 60,000      
The 2021 Swaps [Member] | Secured Overnight Financing Rate (SOFR) [Member]          
Derivative, Basis Spread on Variable Rate   0.10%      
The 2021 Swaps One [Member]          
Derivative, Notional Amount   $ 30,000      
Derivative, Fixed Interest Rate   1.3055%   1.334% 1.334%
The 2021 Swaps Two [Member]          
Derivative, Notional Amount   $ 30,000      
Derivative, Fixed Interest Rate   1.318%   1.348% 1.348%
Revolving Credit Facility [Member]          
Long-Term Line of Credit   $ 60,000 $ 95,000    
Credit and Security Agreement with KeyBank [Member]          
Interest Expense, Debt   $ 2,900 $ 3,400    
Debt, Weighted Average Interest Rate   2.47% 5.51%    
Long-Term Debt, Percentage Bearing Variable Interest, Amount   $ 0 $ 35,000    
Debt Instrument, Interest Rate During Period   2.47% 3.57%    
Line of Credit Facility, Percentage of Capital Stock of Foreign Subsidiaries Collateralized Security 65.00%        
LIBOR Additional Rate   1.00%      
Credit and Security Agreement with KeyBank [Member] | Minimum [Member]          
Line of Credit Facility, Commitment Fee Percentage   0.20%      
Credit and Security Agreement with KeyBank [Member] | Maximum [Member]          
Line of Credit Facility, Commitment Fee Percentage   0.30%      
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) 1 [Member] | Minimum [Member]          
Debt Instrument, Basis Spread on Variable Rate   1.125%      
Credit and Security Agreement with KeyBank [Member] | London Interbank Offered Rate (LIBOR) 1 [Member] | Maximum [Member]          
Debt Instrument, Basis Spread on Variable Rate   2.125%      
Credit and Security Agreement with KeyBank [Member] | Fed Funds Effective Rate Overnight Index Swap Rate [Member]          
Debt Instrument, Basis Spread on Variable Rate   0.50%      
Credit and Security Agreement with KeyBank [Member] | LIBOR With Maturity of One Month [Member] | Minimum [Member]          
Debt Instrument, Basis Spread on Variable Rate   0.125%      
Credit and Security Agreement with KeyBank [Member] | LIBOR With Maturity of One Month [Member] | Maximum [Member]          
Debt Instrument, Basis Spread on Variable Rate   1.125%      
Credit and Security Agreement with KeyBank [Member] | Revolving Credit Facility [Member]          
Line of Credit Facility, Maximum Borrowing Capacity   $ 175,000      
Debt Instrument, Term (Year)   5 years      
Line of Credit Facility, Maximum Letters of Credit Capacity   $ 10,000      
Line of Credit Facility, Maximum Swing Line Loan Capacity   5,000      
Line of Credit Facility, Remaining Borrowing Capacity   $ 115,000 $ 80,000    
Debt Instrument, Additional Borrowing Capacity $ 100,000        
Debt Instrument, Maximum Principal Borrowing Capacity in Foreign Currencies $ 15,000