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Note 9 - Stock-based Compensation - Stock-based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Oct. 01, 2022 | Sep. 30, 2023 | Oct. 01, 2022
Total stock-based compensation | $ 16,664 | $ 13,958 | $ 52,408 | $ 41,207
Cost of Sales [Member] |  |  |  |
Total stock-based compensation | 1,035 | 880 | 3,402 | 2,705
Research and Development Expense [Member] |  |  |  |
Total stock-based compensation | 7,020 | 4,925 | 20,006 | 14,461
Selling, General and Administrative Expenses [Member] |  |  |  |
Total stock-based compensation | $ 8,609 | $ 8,153 | $ 29,000 | $ 24,041

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