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Note K - Derivatives and Hedging (Details Textual)
€ in Millions, SFr in Millions
Aug. 18, 2021
USD ($)
Dec. 31, 2023
USD ($)
Dec. 31, 2023
EUR (€)
Dec. 31, 2023
CHF (SFr)
Aug. 23, 2021
Accumulated Other Comprehensive Income (Loss) Cumulative Cash Flow Hedges, Gain (Loss)   $ (100,000)      
Deferred Tax Assets, Derivative Instruments   26,000      
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        
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   13,100,000   SFr 11.3  
Interest Rate Swap [Member]          
Derivative, Fixed Interest Rate 2.40%       2.40%
Cash Flow Hedging [Member] | Foreign Exchange Contract [Member]          
Derivative, Notional Amount   $ 18,100,000 € 16.3