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Note 6 - Restructuring - Activity Related to Restructuring Plans (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 26, 2020 | Sep. 28, 2019 | Sep. 26, 2020 | Sep. 28, 2019
Accrued Restructuring |  |  |  | $ 7,610 | $ 10,680
Restructuring charges |  | $ 2,692 | $ 252 | 4,178 | 4,719
Costs paid or otherwise settled |  |  |  | (3,055) | (6,307)
Accrued Restructuring |  | 8,733 | 9,092 | 8,733 | 9,092
Employee Severance [Member] |  |  |  |  |
Accrued Restructuring | [1] |  |  | 160 | 1,814
Restructuring charges | [1] |  |  | 1,733 | 625
Costs paid or otherwise settled | [1] |  |  | (1,254) | (2,279)
Accrued Restructuring | [1] | 639 | 160 | 639 | 160
Lease Termination and Fixed Assets [Member] |  |  |  |  |
Accrued Restructuring |  |  |  | 6,585 | 8,630
Restructuring charges |  |  |  | 2,132 | 2,482
Costs paid or otherwise settled |  |  |  | (1,275) | (3,714)
Accrued Restructuring |  | 7,442 | 7,398 | 7,442 | 7,398
Software Contracts and Engineering Tools [Member] |  |  |  |  |
Accrued Restructuring | [2] |  |  | 0 | 218
Restructuring charges | [2] |  |  | 0 | 0
Costs paid or otherwise settled | [2] |  |  | 0 | (218)
Accrued Restructuring | [2] | 0 | 0 | 0 | 0
Other Restructuring [Member] |  |  |  |  |
Accrued Restructuring | [3] |  |  | 865 | 18
Restructuring charges | [3] |  |  | 313 | 1,612
Costs paid or otherwise settled | [3] |  |  | (526) | (96)
Accrued Restructuring | [3] | $ 652 | $ 1,534 | $ 652 | $ 1,534
[1] | Includes employee relocation and outplacement costs
[2] | Includes cancellation of contracts, asset impairments, and accelerated depreciation on certain enterprise resource planning and customer relationship management systems
[3] | Beginning in the second quarter of fiscal 2019, "Other" included termination fees on the cancellation of certain contracts under the Q2 2019 Sales Plan

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