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Note 9 - Stock-based Compensation - Stock-based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jul. 03, 2021 | Jun. 27, 2020 | Jul. 03, 2021 | Jun. 27, 2020
Total stock-based compensation | $ 11,920 | $ 11,012 | $ 22,374 | $ 19,740
Cost of Sales [Member] |  |  |  |
Total stock-based compensation | 825 | 897 | 1,491 | 1,488
Research and Development Expense [Member] |  |  |  |
Total stock-based compensation | 3,969 | 2,234 | 6,736 | 4,828
Selling, General and Administrative Expenses [Member] |  |  |  |
Total stock-based compensation | $ 7,126 | $ 7,881 | $ 14,147 | $ 13,424

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