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Note 6 - Restructuring - Activity Related to Restructuring Plans (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Sep. 30, 2023
Oct. 01, 2022
Restructuring $ 1,509 $ 2,315 $ 1,427 $ 2,505
Employee Severance [Member]        
Accrued Restructuring [1]     400 251
Restructuring     1,365 303
Costs paid or otherwise settled [1]     (446) (154)
Accrued Restructuring [1] 1,319 400 1,319 400
Lease Termination and Fixed Assets [Member]        
Accrued Restructuring     5,892 7,130
Restructuring     58 1,562
Costs paid or otherwise settled     (1,083) (2,477)
Accrued Restructuring 4,867 6,215 4,867 6,215
Software Contracts and Engineering Tools [Member]        
Accrued Restructuring [2]     640 0
Restructuring     4 640
Costs paid or otherwise settled [2]     (24) 0
Accrued Restructuring [2] 620 640 620 640
Other Restructuring [Member]        
Accrued Restructuring     6,932 7,381
Restructuring     1,427 2,505
Costs paid or otherwise settled     (1,553) (2,631)
Accrued Restructuring $ 6,806 $ 7,255 $ 6,806 $ 7,255
[1] Includes employee relocation and outplacement costs.
[2] Includes termination fees on the cancellation of certain contracts under previous restructuring plans