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Note 6 - Stockholders' Equity - Changes in Stockholders' Equity (Details)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2017
USD ($)
Oct. 01, 2016
USD ($)
Sep. 30, 2017
USD ($)
Oct. 01, 2016
USD ($)
Beginning balance     $ 99,112 $ 99,414
Stock-based compensation     2,681 2,259
Shares issued under employee stock plans     (465) (513)
Adoption of new accounting standards $ 822 822
Share repurchase and retirement     (998) (1,469)
Other comprehensive income (loss)     1,104 (2,023)
Net income 1,441 1,841 2,673 1,058
Other     1 (2)
Ending balance $ 104,930 $ 98,724 $ 104,930 $ 98,724