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Note 6 - Restructuring - Activity Related to Restructuring Plans (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Oct. 02, 2021 | Sep. 26, 2020 | Oct. 02, 2021 | Sep. 26, 2020
Restructuring charges |  | $ 166 | $ 2,692 | $ 546 | $ 4,178
Employee Severance [Member] |  |  |  |  |
Accrued Restructuring | [1] |  |  | 246 | 160
Restructuring charges | [1] |  |  | 15 | 1,733
Costs paid or otherwise settled | [1] |  |  | (165) | (1,254)
Accrued Restructuring | [1] | 96 | 639 | 96 | 639
Lease Termination and Fixed Assets [Member] |  |  |  |  |
Accrued Restructuring |  |  |  | 8,233 | 6,585
Restructuring charges |  |  |  | 531 | 2,132
Costs paid or otherwise settled |  |  |  | (1,346) | (1,275)
Accrued Restructuring |  | 7,418 | 7,442 | 7,418 | 7,442
Software Contracts and Engineering Tools [Member] |  |  |  |  |
Accrued Restructuring | [2] |  |  | 664 | 865
Restructuring charges | [2] |  |  | 0 | 313
Costs paid or otherwise settled | [2] |  |  | (664) | (526)
Accrued Restructuring | [2] | 0 | 652 | 0 | 652
Other Restructuring [Member] |  |  |  |  |
Accrued Restructuring |  |  |  | 9,143 | 7,610
Restructuring charges |  |  |  | 546 | 4,178
Costs paid or otherwise settled |  |  |  | (2,175) | (3,055)
Accrued Restructuring |  | $ 7,514 | $ 8,733 | $ 7,514 | $ 8,733
[1] | Includes employee relocation and outplacement costs.
[2] | Includes termination fees on the cancellation of certain contracts under the Q2 2019 Sales Plan

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- Definition Amount of cash payments made as the result of exit or disposal activities. Excludes payments associated with a discontinued operation or an asset retirement obligation. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b)(2) -URI http://asc.fasb.org/extlink&oid=6394359&loc=d3e17939-110869 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 17 -Subparagraph (f) -URI http://asc.fasb.org/extlink&oid=123570139&loc=d3e3367-108585 + Details
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- Definition Amount of expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses related to a discontinued operation or an asset retirement obligation. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section 45 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=109237686&loc=d3e17752-110868 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 5.P.3) -URI http://asc.fasb.org/extlink&oid=115931487&loc=d3e140864-122747 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123570139&loc=d3e3602-108585 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SAB Topic 5.P.4(b)(1)) -URI http://asc.fasb.org/extlink&oid=115931487&loc=d3e140904-122747 + Details
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- Definition Carrying amount (including both current and noncurrent portions of the accrual) as of the balance sheet date pertaining to a specified type of cost associated with exit from or disposal of business activities or restructuring pursuant to a duly authorized plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b)(2) -URI http://asc.fasb.org/extlink&oid=6394359&loc=d3e17939-110869 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 420 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SAB TOPIC 5.P.4(b)(2)) -URI http://asc.fasb.org/extlink&oid=115931487&loc=d3e140904-122747 + Details
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