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Note 7 - Shareholders' Equity - Activity in Shareholders' Equity (Details) - USD ($) shares in Thousands, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2019	Mar. 31, 2019	Jul. 01, 2018	Apr. 01, 2018	Jun. 30, 2019	Jul. 01, 2018
Balance		$ 354,663			$ 354,663
Net income	$ 29,499		$ 20,602		36,558	$ 35,686
Share repurchases	(25,200)
Pension liability adjustment	829		3,459		738	1,243
Foreign currency translation adjustment	4,249		(20,773)		(954)	(11,943)
Cash flow hedge unrealized gain (loss)	(4,667)		$ 647		(7,973)	$ 2,279
Balance	$ 352,113				$ 352,113
Common Stock [Member]
Balance (in shares)	60,016	59,508	59,498	59,806	59,508	59,806
Balance	$ 6,002	$ 5,951	$ 5,950	$ 5,981	$ 5,951	$ 5,981
Net income	$ 0	$ 0	$ 0	$ 0
Stock issuances under employee plans (in shares)	2	509	4	175
Stock issuances under employee plans	$ 0	$ 51	$ 0	$ 17
Other issuances of common stock (in shares)	(1)	224	0	187
Other issuances of common stock	$ 0	$ 22	$ 0	$ 19
Unamortized stock compensation expense related to restricted stock awards	0	0	0	0
Cash dividends paid	$ 0	$ 0	$ 0	$ 0
Forfeitures and compensation expense related to stock awards (in shares)	(28)	(225)	(9)	(55)
Forfeitures and compensation expense related to stock awards	$ (3)	$ (22)	$ (1)	$ (6)
Share repurchases (in shares)	(1,556)	0	0	(615)
Share repurchases	$ (156)	$ 0	$ 0	$ (61)
Pension liability adjustment	0	0	0	0
Foreign currency translation adjustment	0	0	0	0
Cash flow hedge unrealized gain (loss)	$ 0	$ 0	$ 0	$ 0
Balance (in shares)	58,433	60,016	59,493	59,498	58,433	59,493
Balance	$ 5,843	$ 6,002	$ 5,949	$ 5,950	$ 5,843	$ 5,949
Additional Paid-in Capital [Member]
Balance	270,655	270,269	260,115	271,271	270,269	271,271
Net income	0	0	0	0
Stock issuances under employee plans	6	379	35	102
Other issuances of common stock	0	3,900	0	4,769
Unamortized stock compensation expense related to restricted stock awards	52	(3,922)	0	(4,788)
Cash dividends paid	0	0	0	0
Forfeitures and compensation expense related to stock awards	1,506	29	2,135	3,185
Share repurchases	(24,998)	0	0	(14,424)
Pension liability adjustment	0	0	0	0
Foreign currency translation adjustment	0	0	0	0
Cash flow hedge unrealized gain (loss)	0	0	0	0
Balance	247,221	270,655	262,285	260,115	247,221	262,285
Retained Earnings [Member]
Balance	225,373	222,214	198,649	187,433	222,214	187,433
Net income	29,499	7,059	20,602	15,084
Stock issuances under employee plans	0	0	0	0
Other issuances of common stock	0	0	0	0
Unamortized stock compensation expense related to restricted stock awards	0	0	0	0
Cash dividends paid	(3,863)	(3,900)	(3,868)	(3,868)
Forfeitures and compensation expense related to stock awards	0	0	0	0
Share repurchases	0	0	0	0
Pension liability adjustment	0	0	0	0
Foreign currency translation adjustment	0	0	0	0
Cash flow hedge unrealized gain (loss)	0	0	0	0
Balance	251,009	225,373	215,383	198,649	251,009	215,383
Accumulated Defined Benefit Plans Adjustment Attributable to Parent [Member]
Balance	(43,701)	(43,610)	(58,770)	(56,554)	(43,610)	(56,554)
Net income	0	0	0	0
Stock issuances under employee plans	0	0	0	0
Other issuances of common stock	0	0	0	0
Unamortized stock compensation expense related to restricted stock awards	0	0	0	0
Cash dividends paid	0	0	0	0
Forfeitures and compensation expense related to stock awards	0	0	0	0
Share repurchases	0	0	0	0
Pension liability adjustment	829	(91)	3,459	(2,216)
Foreign currency translation adjustment	0	0	0	0
Cash flow hedge unrealized gain (loss)	0	0	0	0
Balance	(42,872)	(43,701)	(55,311)	(58,770)	(42,872)	(55,311)
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]
Balance	(106,690)	(101,487)	(70,113)	(78,943)	(101,487)	(78,943)
Net income	0	0	0	0
Stock issuances under employee plans	0	0	0	0
Other issuances of common stock	0	0	0	0
Unamortized stock compensation expense related to restricted stock awards	0	0	0	0
Cash dividends paid	0	0	0	0
Forfeitures and compensation expense related to stock awards	0	0	0	0
Share repurchases	0	0	0	0
Pension liability adjustment	0	0	0	0
Foreign currency translation adjustment	4,249	(5,203)	(20,773)	8,830
Cash flow hedge unrealized gain (loss)	0	0	0	0
Balance	(102,441)	(106,690)	(90,886)	(70,113)	(102,441)	(90,886)
Accumulated Gain (Loss), Net, Cash Flow Hedge, Parent [Member]
Balance	(1,980)	1,326	2,536	904	1,326	904
Net income	0	0	0	0
Stock issuances under employee plans	0	0	0	0
Other issuances of common stock	0	0	0	0
Unamortized stock compensation expense related to restricted stock awards	0	0	0	0
Cash dividends paid	0	0	0	0
Forfeitures and compensation expense related to stock awards	0	0	0	0
Share repurchases	0	0	0	0
Pension liability adjustment	0	0	0	0
Foreign currency translation adjustment	0	0	0	0
Cash flow hedge unrealized gain (loss)	(4,667)	(3,306)	647	1,632
Balance	$ (6,647)	$ (1,980)	$ 3,183	$ 2,536	$ (6,647)	$ 3,183

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