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Note 9 - Stock-based Compensation - Stock-based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended
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Apr. 03, 2021 | Mar. 28, 2020
Total stock-based compensation | $ 10,454 | $ 8,728
Cost of Sales [Member] |  |
Total stock-based compensation | 666 | 591
Research and Development Expense [Member] |  |
Total stock-based compensation | 2,767 | 2,594
Selling, General and Administrative Expenses [Member] |  |
Total stock-based compensation | $ 7,021 | $ 5,543

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