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Note 1 - Summary of Significant Accounting Policies (Details Textual) - USD ($) |  |  | 12 Months Ended |
--- | --- | --- | --- | ---
Jul. 01, 2018 | Dec. 31, 2017 | Jun. 30, 2019 | Jun. 30, 2018 | Jul. 01, 2019
Cash, Uninsured Amount |  |  | $ 1,461,000 | $ 4,507,000 |
Depreciation, Total |  |  | 7,460,000 | 7,462,000 |
Fair Value Disclosure, Off-balance Sheet Risks, Amount, Asset |  |  | $ 0 |  |
Standard Warranty Extended Term for Exceptions |  |  | 10 years |  |
Defined Contribution Plan, Cost |  |  | $ 1,333,000 | 1,195,000 |
Research and Development Expense, Total |  |  | $ 5,266,000 | $ 5,952,000 |
Incremental Common Shares Attributable to Dilutive Effect of Contingently Issuable Shares |  |  | 324,000 | 720,000 |
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent |  |  | 21.00% | 27.60% |
Income Tax Expense (Benefit), Continuing Operations, Adjustment of Deferred Tax (Asset) Liability |  | $ 3,323,000 |  | $ 3,322,991 |
Accumulated Other Comprehensive Income (Loss), Foreign Currency Translation Adjustment, Net of Tax, Ending Balance |  |  | $ 16,000 |  |
Accounting Standards Update 2014-09 [Member] |  |  |  |  |
Cumulative Effect on Retained Earnings, Net of Tax, Total | $ 591,000 |  |  |  |
Other Expense [Member] |  |  |  |  |
Foreign Currency Transaction Gain (Loss), before Tax, Total |  |  | $ (138,000) |  |
Maximum [Member] |  |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  |  | 20 years |  |
Standard Warranty Term |  |  | 5 years |  |
Maximum [Member] | Accounting Standards Update 2016-02 [Member] | Subsequent Event [Member] |  |  |  |  |
Operating Lease, Right-of-Use Asset |  |  |  |  | $ 12,500,000
Operating Lease, Liability, Total |  |  |  |  | 12,500,000
Minimum [Member] |  |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  |  | 7 years |  |
Standard Warranty Term |  |  | 1 year |  |
Minimum [Member] | Accounting Standards Update 2016-02 [Member] | Subsequent Event [Member] |  |  |  |  |
Operating Lease, Right-of-Use Asset |  |  |  |  | 9,500,000
Operating Lease, Liability, Total |  |  |  |  | $ 9,500,000
Leasehold Improvements [Member] | Maximum [Member] |  |  |  |  |
Property, Plant and Equipment, Useful Life |  |  | 15 years |  |

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