Note 13 - Derivative Instruments and Hedging Activities - Derivative Financial Instruments Effects on Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Net (losses) gains recognized in AOCL	$ 1,731	$ (575)
Foreign Exchange Forward [Member]
Net (losses) gains recognized in AOCL	(1,470)	(119)
Net losses reclassified from AOCL to the consolidated statement of operations	(537)	(805)
Interest Rate Swap [Member]
Net (losses) gains recognized in AOCL	689	5,886
Net losses reclassified from AOCL to the consolidated statement of operations	$ 2,268	$ 230

Amount, after tax, of reclassification of gain (loss) from accumulated other comprehensive income (AOCI) for derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 11
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-11

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 15
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-15

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