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Note K - Derivatives and Hedging (Details Textual)
€ in Millions, SFr in Millions
3 Months Ended
Aug. 18, 2021
USD ($)
Mar. 31, 2023
USD ($)
Mar. 31, 2023
EUR (€)
Mar. 31, 2023
CHF (SFr)
Wells Fargo Bank, N.A. [Member] | Credit Agreement [Member] | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate [Member]        
Debt Instrument, Basis Spread on Variable Rate   1.29%    
Wells Fargo Bank, N.A. [Member] | Credit Agreement [Member] | Term Loan [Member]        
Debt Instrument, Face Amount $ 10,000,000.0      
Wells Fargo Bank, N.A. [Member] | Credit Agreement [Member] | Term Loan [Member] | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate [Member]        
Debt Instrument, Basis Spread on Variable Rate 1.80%      
Foreign Exchange Contract [Member] | Not Designated as Hedging Instrument [Member]        
Derivative, Notional Amount   $ 12,200,000   SFr 11.4
Foreign Exchange Contract [Member] | Cash Flow Hedging [Member]        
Derivative, Notional Amount   24,000,000.0 € 21.4  
Accumulated Other Comprehensive Income (Loss) Cumulative Cash Flow Hedges, Gain (Loss)   50,000    
Deferred Tax Assets, Derivative Instruments   6,000    
Foreign Currency Cash Flow Hedge Gain (Loss) to be Reclassified During Next 12 Months   $ 50,000    
Interest Rate Swap [Member]        
Derivative, Fixed Interest Rate 2.40%