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Note 8 - Shareholders' Equity - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jul. 02, 2017
USD ($)
$ / shares
shares
Options outstanding (in shares) | shares 2,323,581
Options outstanding - weighted average exercise price (in dollars per share) | $ / shares $ 6.22
Granted (in shares) | shares 244,750
Options outstanding - weighted average exercise price (in dollars per share) | $ / shares $ 6.10
Options outstanding - weighted average remaining contractual term (Year) 3 years 113 days
Options outstanding - aggregate intrinsic value | $ $ 3,929
Vested and Expected to Vest (in shares) | shares 2,000,545
Options vested and expected to vest - weighted average exercise price (in dollars per share) | $ / shares $ 6.17
Options vested and expected to vest - weighted average remaining contractual term (Year) 3 years 58 days
Options vested and expected to vest - aggregate intrinsic value | $ $ 3,658
Options exercisable (in shares) | shares 1,273,909
Exercisable - weighted average exercise price (in dollars per share) | $ / shares $ 5.08
Exercisable - weighted average remaining contractual term (Year) 2 years 7 days
Exercisable - aggregate intrinsic value | $ $ 2,706
Granted - weighted average exercise price (in dollars per share) | $ / shares $ 5.60
Exercised (in shares) | shares (242,919)
Exercised - weighted average exercise price (in dollars per share) | $ / shares $ 4.07
Forfeited or Expired (in shares) | shares (209,399)
Forfeited or expired - weighted average exercise price (in dollars per share) | $ / shares $ 9.20
Options outstanding (in shares) | shares 2,116,013