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Note 8 - Shareholders' Equity - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended
Oct. 01, 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
Granted - weighted average exercise price (in dollars per share) | $ / shares $ 5.60
Exercised (in shares) | shares (273,005)
Exercised - weighted average exercise price (in dollars per share) | $ / shares $ 4.10
Forfeited or Expired (in shares) | shares (244,482)
Forfeited or expired - weighted average exercise price (in dollars per share) | $ / shares $ 8.91
Options outstanding (in shares) | shares 2,050,844
Options outstanding - weighted average exercise price (in dollars per share) | $ / shares $ 6.10
Options outstanding - weighted average remaining contractual term (Year) 3 years 36 days
Options outstanding - aggregate intrinsic value | $ $ 3,149
Vested and Expected to Vest (in shares) | shares 1,937,204
Options vested and expected to vest - weighted average exercise price (in dollars per share) | $ / shares $ 6.18
Options vested and expected to vest - weighted average remaining contractual term (Year) 2 years 346 days
Options vested and expected to vest - aggregate intrinsic value | $ $ 2,928
Options exercisable (in shares) | shares 1,218,744
Exercisable - weighted average exercise price (in dollars per share) | $ / shares $ 5.03
Exercisable - weighted average remaining contractual term (Year) 1 year 313 days
Exercisable - aggregate intrinsic value | $ $ 2,163